Vector Functions and Space Curves: Unit V

Unit 5 – Vector Functions and Space Curves
UNIT V
VECTOR FUNCTIONS AND SPACE

CURVES
Introduction
Session 14
Differentiation of vector functions
Session 15
Vector applications of dynamics
286
©2020, The Open University of Sri Lanka
Engineering Mathematics IB
Introduction
Vector constitute one of the several mathematical tools which can be

usefully employed to provide mathematical handling for certain types of
problems in Geometry, Mechanics and other branches of Applied
Mathematics. These are useful in engineering applications.
In first session we will consider the differentiation of vectors. In
engineering problem we often come across such vectors.
In second session we will consider the mechanics and the solving of
mechanical problems with the help of vectors and pure mathematics.
Mechanics, which deals with the effects that forces have on bodies, is a
science.
End of the unit you will get a good knowledge of differentiation of Vectors.
©2020, The Open University of Sri Lanka 287

Engineering Mathematics II – Unit 5
Session 14
Differentiation of Vector functions
Contents
Introduction, p 288
14.1 Vector function of a single scalar Variable, p 288
14.2 Derivative (Differential coefficient) of a Vector function, p 289
14.3 Geometric Interpretation of the Derivative, p 290
14.4 Properties of Derivatives, p 292
14.5 Partial Derivative of a Vector function, p 294
Answer to the Activities, p 298
Summary, p 305
Learning Outcomes, p 306
Introduction
In this session we will consider the differentiation of vectors. In engineering

problem we often come across such vectors. One example is the variation of
a force with respect to time. We can think of a force whose direction as
well as the magnitude change with time. Therefore in this session we will
consider the derivatives of a vector, which depends on a single scalar
variable t.
14.1 Vector function of a single scalar variable
288
Session 1: Differentiation of Vector Functions
Definition
Let 𝑡 be a scalar variable on the interval [𝑎, 𝑏] and 𝒓 be a vector corresponds

to the scalar 𝑡. Then 𝒓 is said to be a vector function of a single scalar
variable 𝑡 and we write 𝒓 = 𝒇(𝑡), where 𝒇 indicates the law of
correspondence.
Remark 1:
As usual, the particular value of 𝒇(𝑡) at 𝑡 = 𝑎 is written as 𝒇(𝑎).
Remark 2:
A vector function 𝒇(𝑡) in the three dimensional space can be expressed in

the component form as,
𝒇 = 𝑓1 (𝑡)𝒊 + 𝑓2 (𝑡)𝒋 + 𝑓3 (𝑡)𝒌;
Where 𝑓1 (𝑡),𝑓2 (𝑡) and 𝑓3 (𝑡) are scalar functions of 𝑡.
14.2 Derivative (differential coefficient) of a vector

function
Definition
If 𝒇(𝑡) is a vector function of a scalar variable 𝑡, then
𝒇(𝑡 + 𝛿𝑡) − 𝒇(𝑡)

lim
𝛿𝑡→0 𝛿𝑡
(if it exists) is called the differential coefficient of 𝒇(𝑡) with respect to 𝑡 and
𝑑𝒇
is denoted by 𝑑𝑡 or 𝒇′ (𝑡).
A function is said to be differentiable if it has finite differential coefficient

for all values of t belonging to its interval of definition.
Remark 1:
The derivative of 𝒇(𝑡) at 𝑡 = 𝑡0 is given by,

𝒇(𝑡) − 𝒇(𝑡0 )
lim
𝑡→𝑡0 𝑡 − 𝑡0
𝑑𝒇
Provided this limit exists, and denoted by 𝒇′ (𝑡0 ) or ( 𝑑𝑡 ) or 𝐷𝒇(𝑡0 )
𝑡=𝑡0
Remark 2:
As in scalar calculus, if we denote the changes in 𝑡 and 𝒇(𝑡) by 𝛿𝑡 and 𝛿𝒇

respectively, then we have
𝑑𝒇 𝛿𝒇
𝒇′ (𝑡) = = lim
𝑑𝑡 𝛿𝑡→0 𝛿𝑡
14.3 Geometrical Interpretation of the Derivative
Let 𝑂 be the origin and 𝑃 be the position of a moving particle at time 𝑡.
Let ⃗⃗⃗⃗⃗
𝑂𝑃 = 𝒓 and let Q be the position of the particle at the time 𝑡 + 𝛿𝑡 and
⃗⃗⃗⃗⃗⃗ = 𝒓 + 𝛿𝒓
the position vector of 𝑂𝑄
∴ ⃗⃗⃗⃗⃗ ⃗⃗⃗⃗⃗⃗ − ⃗⃗⃗⃗⃗

𝑃𝑄 = 𝑂𝑄 𝑂𝑃 = 𝒓 + 𝛿𝒓 − 𝒓 = 𝛿𝒓
O
Figure 14.1
𝛿𝒓 ⃗⃗⃗⃗⃗
𝑃𝑄
⟹ =
𝛿𝑡 𝛿𝑡
290
When 𝑄 → 𝑃, 𝛿𝑡 → 0 the chord 𝑃𝑄 becomes the tangent at 𝑃. We define
𝑑𝒓 𝛿𝒓
= lim
𝑑𝑡 𝛿𝑡→0 𝛿𝑡
dr
Then is a vector in the direction of the tangent at 𝑃.
dt
14.3.1 Successive derivative
dr
In general is a function of 𝑡 and if it possesses a derivative, then the
dt
d dr d 2r
derivative ( ) denoted by 2 is called the second order derivative of
dt dt dt
 d 3r   d 4r 
r . Likewise we may denote the third  3  , fourth  4  , etc.
 dt   dt 
14.3.2 Physical Interpretation of the first and second derivatives
Let the scalar variable 𝑡 be the time and r be the position vector of a moving
point 𝑃 as shown in Figure 14.1. Then  r is the displacement of the point
r
in time t , and is the average velocity during the interval. The limiting
t
value of this average velocity, as  t → 0 , is the velocity 𝒗 of 𝑃. The
direction of 𝒗 is that of tangent 𝑃𝑇 to the curve at 𝑃.
𝛿𝒓 𝑑𝒓
𝒗 = lim =
𝛿𝑡→0 𝛿𝑡 𝑑𝑡
Similarly if 𝛿𝒗 be the increment in the velocity vector 𝒗, corresponding to

the increment t , then the acceleration 𝒂 of 𝑃 is given by
𝛿𝒗 𝑑𝒗 𝑑 𝑑𝒓 𝑑2𝒓
𝒂 = lim = = ( )= 2
𝛿𝑡→0 𝛿𝑡 𝑑𝑡 𝑑𝑡 𝑑𝑡 𝑑𝑡

Activity 1
1. A particle moves along the curve = 𝑡 3 + 1, 𝑦 = 𝑡 2 and 𝑧 = 2𝑡 + 5 where 𝑡 is the

time. Find the components of its velocity and acceleration at time 𝑡 = 1 in the
direction 2𝒊 + 3𝒋 + 𝟔𝒌.
2. At any point of the curve 𝑥 = 3 cos 𝑡 , 𝑦 = 3 sin 𝑡 and 𝑧 = 4𝑡 find
(i) Tangent Vector
(ii) Unit Tangent Vector
(iii) Normal vector
(iv) Unit Normal Vector
14.4 Properties of Derivatives
1. If 𝒇(𝑡) = 𝑓1 (𝑡)𝒊 + 𝑓2 (𝑡)𝒋 + 𝑓3 (𝑡)𝒌 be a differentiable vector

function of the scalar variable 𝑡 then 𝑓1 (𝑡), 𝑓2 (𝑡) and 𝑓3 (𝑡) are
also differentiable scalar function of t and,
𝑑𝒇 𝑑𝑓1 𝑑𝑓2 𝑑𝑓3
2. = 𝒊+ 𝒋+ 𝒌
𝑑𝑡 𝑑𝑡 𝑑𝑡 𝑑𝑡
3. If 𝒖(𝑡) and 𝒗(𝑡) are two differentiable functions of scalar 𝑡, then

𝑑 𝑑𝒖 𝑑𝒗
4. (𝒖 + 𝒗) = + 𝑑𝑡
𝑑𝑡 𝑑𝑡
Proof
Let 𝒇(𝑡) = 𝒖(𝑡) + 𝒗(𝒕). Consider,
𝒇(𝑡) − 𝒇(𝑡 + 𝛿𝑡)

lim
[𝒖(𝑡) + 𝒗(𝑡)] − [𝒖(𝑡 + 𝛿𝑡) + 𝒗(𝑡 + 𝛿𝑡)]
= lim
292
𝒇(𝑡) − 𝒇(𝑡 + 𝛿𝑡)

⟹ lim
𝒖(𝑡) − 𝒖(𝑡 + 𝛿𝑡)
= lim
𝒗(𝑡) − 𝒗(𝑡 + 𝛿𝑡)
+ lim
𝑑𝒇 𝑑𝒖 𝑑𝒗
⟹ = +
𝑑𝑡 𝑑𝑡 𝑑𝑡
⟹ (𝒖 + 𝒗) = +
5. If 𝒖(𝑡) is a differentiable vector function and 𝜑(𝑡) is a

differentiable scalar function of scalar t, then
𝑑 𝑑𝒖 𝑑𝜑
(𝜑𝒖) = 𝜑 + 𝒖
6. If 𝒖(𝑡) and 𝒗(𝑡) are two differentiable vector functions of scalar

𝑡, then
(𝒖. 𝒗) = . 𝒗 + 𝒖.
(𝒖 × 𝒗) = ×𝒗+𝒖×
7. If 𝒖(𝑡), 𝒗(𝑡) and 𝒘(𝑡) are three differentiable vector functions of

scalar variable 𝑡, (differentiation of scalar triple product)
𝑑 𝑑𝒖 𝑑𝒗 𝑑𝒘
([𝒖, 𝒗, 𝒘]) = [ , 𝒗, 𝒘] + [𝒖, , 𝒘] + [𝒖, 𝒗, ]
Proof
𝑑 𝑑
([𝒖, 𝒗, 𝒘]) = {𝒖. (𝒗 × 𝒘)}
𝑑𝑡 𝑑𝑡
𝑑𝒖 𝑑
= . (𝒗 × 𝒘) + 𝒖. {(𝒗 × 𝒘)}
𝑑𝑡 𝑑𝑡
𝑑𝒖 𝑑𝒗 𝑑𝒘
= [ , 𝒗, 𝒘] + 𝒖. { × 𝒘} + 𝒖. {𝒗 × }
𝑑𝒖 𝑑𝒗 𝑑𝒘
= [ , 𝒗, 𝒘] + [𝒖, , 𝒘] + [𝒖, 𝒗, ]

8. If 𝒖(𝑡), 𝒗(𝑡) and 𝒘(𝑡) are three differentiable vector functions of

scalar variable 𝑡, (differentiation of vector triple product)
𝑑 𝑑𝒖 𝑑𝒗 𝑑𝒘
{𝒖 × (𝒗 × 𝒘)} = [ × (𝒗 × 𝒘)] + [𝒖 × ( × 𝒘)] + [𝒖 × (𝒗 × )]
Activity 2
d
1. If 𝒂, 𝒃 are constant vectors, find 𝐷|𝒂 + 𝑡𝒃|, where D=
dt
2. Differentiate the following with respect to 𝑡,
𝒓 𝒓×𝒂
−
𝒂. 𝒓 |𝒓|
Where 𝒓 a vector function of 𝑡 and 𝒂 is a constant vector.
3. Let 𝒓 = 𝑟𝑟̂ be any vector. Then 𝑟 = |𝒓| and 𝑟̂ is the unit vector along the
direction of 𝒓. Show that,
𝒓 × 𝑑𝒓
𝑟̂ × 𝑑𝑟̂ = .
𝒓2
4. A particle 𝑃 is moving on a circle of radius 𝑟 with constant angular velocity
d
w= . Show that the acceleration is −𝑤 2 𝒓.
dt
14.5 Partial Derivatives of a vector function
Definitions
1. If 𝒇(𝑢, 𝑣) is a vector function of two scalar variables 𝑢 and 𝑣, then

𝒇(𝑢 + 𝛿𝑢, 𝑣) − 𝒇(𝑢, 𝑣)
lim
𝛿𝑢→0 𝛿𝑢
if it exists, is called the partial derivative of 𝒇(𝑢, 𝑣) with respect to 𝑢,
f
and it is denoted by or fu ( u, v ) or f u .
u
2. If 𝒇(𝑢, 𝑣) is a vector function of two scalar variables 𝑢 and 𝑣, then
294
𝒇(𝑢 + 𝛿𝑢, 𝑣) − 𝒇(𝑢, 𝑣)

lim
𝛿𝑣→0 𝛿𝑢
if it exists, is called the partial derivative of 𝒇(𝑢, 𝑣) with respect to 𝑣,
f
and it is denoted by or f v ( u, v ) or f v .
v
Partial derivatives of second and higher orders
f f
If each of the two vector functions and process partial derivatives
u v
with respect to 𝑢 and 𝑣,
  f    f    f    f 
Then,  ,  ,  ,   denoted by
u  u  v  u  u  v  v  v 
2 f 2 f 2 f 2 f
, , , (or 𝒇𝑢𝑢 , 𝒇𝑣𝑢 , 𝒇𝑢𝑣 , 𝒇𝑣𝑣 ) are called the second order
u 2 vu uv v 2
partial derivatives of f ( u , v ) .
14.5.1 Properties of differentiation of vector functions of two

variables.
1. If f ( u, v ) = f1 ( u, v ) i + f 2 ( u, v ) j + f3 ( u, v ) k then
f f1 f f f f1 f f
= i+ 2 j+ 3 k and = i+ 2 j+ 3 k
u u u u v v v v
2. Let f ( u, v ) , g ( u, v ) , h ( u, v ) be vector functions of u , v and let
 ( u, v ) be a scalar function of u , v. Then

 f g
(i) ( f  g) = 
u u u
 f g
(ii) ( f.g ) = . g + f .
u u u
 f g
(iii) ( f  g) =  g + f 
u u u
  f
(iv) ( f ) = f + 
u u u

 f g h
(v)  f , g, h =  , g, h +  f , , h +  f , g, 
u  u   u   u 
2 f 2 f
(vi) If 𝒇 is a continuous function; =
uv vu
Theorem
Total differential coefficient (Total derivative)
If f ( u , v ) is a vector function of two scalar variable 𝑢 and 𝑣,
where u =  (t ) and v =  ( t , ) possess continuous derivatives,
then
df f du f dv
= . + .
t u dt v dt
Proof
Let f ( u, v ) = f1 ( u, v ) i + f 2 ( u, v ) j + f3 ( u, v ) k (01)
df df1 df df
From (01), = i+ 2 j+ 3 k (02)
t dt dt dt
f f1 f f
= i+ 2 j+ 3 k (03)
u u u u
f f1 f f
And = i+ 2 j+ 3 k (04)
v v v v
Since f (u.v ) possess continuous partial derivatives with respect to 𝑢 and 𝑣,

it follows that f1 (u, v ), f 2 (u, v ) and f 3 (u.v ) also possess. Since 𝑢 and 𝑣 are
functions of 𝑡 which possess continuous derivatives, by the corresponding

theorem in scalar calculus, these functions also possess continuous
derivatives with respect to 𝑡 and they are given by
296
df1 f 1 du f 1 dv 
= +
dt u dt v dt 

df 2 f 2 du f 2 dv 
= +  (05)
dt u dt v dt 
df 3 f 3 du f 3 dv 
= +
dt u dt v dt 
Using (05), (02) reduces to
df  f1 du f1 dv   f 2 du f 2 dv   f3 du f3 dv 

= + i + +  j + + k
dt  u dt v dt   u dt v dt   u dt v dt 
 f f f  du  f1 f f  dv
= 1 i+ 2 j+ 3 k + i+ 2 j+ 2 k
 u u u  dt  v v v  dt
df f du f dv
 By (03) and (04), = . + .
dt u dt v dt
Theorem
If f ( u , v ) be a vector function of two scalar variables, then
f f
df = du + dv
u v
Note
d ( f.g ) = f .dg + df .g
•
d ( f  g ) = f  dg + df  g
•
• If f = f1i + f 2 j + f3k then, df = df1 i + df 2 j + df3 k
Activity 3
If ( )
f = Cosxy i + 3xy − 2 x 2 j − ( 3x + 2 y ) k find the values of
f f 2 f 2 f 2 f
, , , and .
x y x 2 y 2 xy

Answers for Activities
Activity 1
1.
𝑥 = 𝑡 3 + 1, 𝑦 = 𝑡 2 and 𝑧 = 2𝑡 + 5
𝒓 = 𝑥𝒊 + 𝑦𝒋 + 𝑧𝒌 = (𝑡 3 + 1)𝒊 + 𝑡 2 𝒋 + (2𝑡 + 5)𝒌
𝑑𝒓
∴ Velocity = = 3𝑡 2 𝒊 + 2𝑡𝒋 + 2𝒌
𝑑𝑡
𝑑𝒓
⟹( ) = 3 𝒊 + 2𝒋 + 2𝒌
𝑑𝑡 𝒕=𝟏
Unit vector along 2𝒊 + 3𝒋 + 𝟔𝒌 is,
2𝒊 + 3𝒋 + 𝟔𝒌
7
∴ Component of velocity 3 𝒊 + 2𝒋 + 2𝒌 along 2𝒊 + 3𝒋 + 𝟔𝒌 is,
2𝒊 + 3𝒋 + 𝟔𝒌 24
(3 𝒊 + 2𝒋 + 2𝒌). ( )=
7 7
d2 𝒓
Now acceleration = = 6𝑡𝒊 + 2𝒋
𝑑𝑡
When 𝑡 = 1, acceleration = 6𝒊 + 2𝒋
Component of acceleration 6𝒊 + 2𝒋 along 2𝒊 + 3𝒋 + 𝟔𝒌 is,
2𝒊 + 3𝒋 + 𝟔𝒌 18
(6 𝒊 + 2𝒋). ( )=
7 7
2.
𝒓 = 𝑥𝒊 + 𝑦𝒋 + 𝑧𝒌 = 3 cos 𝑡 𝒊 + 3 sin 𝑡 𝒋 + 4𝑡𝒌
(i) The tangent is given by,
𝑑𝒓
= (−3 sin 𝑡)𝒊 + 3 cos 𝑡 𝒋 + 4𝑡𝒌
𝑑𝑡
(ii) Let unit tangent vector be 𝑻. Then,
𝑑𝒓
𝑑𝑡 1
𝑻= 𝑑𝒓 = (−3 sin 𝑡 𝒊 + 3𝑐𝑜𝑠 𝑡𝒋 + 4𝒌)
| | 5
𝑑𝑡
(iii) Normal vector is given by,
𝑑𝑻 𝑑𝑻 𝑑𝑡
=
𝑑𝑠 𝑑𝑡 𝑑𝑠
298
ds dr
= =5
Note that, dt dt
𝑑𝑻 1 𝑑𝑻 1 𝑑 1
∴ = = [ (−3 sin 𝑡 𝒊 + 3 cos 𝑡 𝒋 + 4𝒌)]
𝑑𝑠 5 𝑑𝑡 5 𝑑𝑡 5
𝑑𝑻 1
= (−3 cos 𝑡 𝒊 − 3 sin 𝑡 𝒋)
𝑑𝑠 25
1 3
( 3cos t ) + ( −3sin t ) =
2
(iv) Magnitude of the normal vector =
25 25
∴ The unit normal vector = −(cos 𝑡 𝒊 + sin 𝑡 𝒋)
Activity 2
1.
1
Let 𝒄 = 𝒂 + 𝒕𝒃. Note that |𝒄| = (𝒄. 𝒄)2 . Consider,
𝑑 1
𝐷|𝒂 + 𝒕𝒃| = 𝐷|𝒄| = {(𝒄. 𝒄)2 }
𝑑𝑡
1 1 𝑑 1 1 𝑑𝒄 𝑑𝒄
= (𝒄. 𝒄)−2 (𝒄. 𝒄) = (𝒄. 𝒄)−2 { . 𝒄 + 𝒄. }
2 𝑑𝑡 2 𝑑𝑡 𝑑𝑡
1 𝑑𝒄 (𝒂 + 𝒕𝒃). 𝒃
= 1 [ . 𝒄] =
(𝒄. 𝒄)2 𝑑𝑡 |𝒂 + 𝒕𝒃 |
2. Note that 𝒂 is a constant vector and hence its derivative with respect to 𝑡 is
zero. Consider,
𝑑 𝒓 𝒓×𝒂 𝑑 𝒓 𝑑 𝒓×𝒂
{ − }= ( )− ( )
𝑑𝑡 𝒂. 𝒓 |𝒓| 𝑑𝑡 𝒂. 𝒓 𝑑𝑡 |𝒓|
1 𝑑𝒓 𝑑 1 𝑑 𝑑|𝒓|
= 2
{(𝒂. 𝒓) − [ (𝒂. 𝒓)] 𝒓} − 2 {|𝒓| [ (𝒓 × 𝒂)] − [ ] (𝒓 × 𝒂)}
(𝒂. 𝒓) 𝑑𝑡 𝑑𝑡 |𝒓| 𝑑𝑡 𝑑𝑡
1
𝑑𝒓
𝑑|𝒓| 𝑑 [(𝒓. 𝒓)2 ] 𝒓. 𝑑𝑡
(Since = = )
𝑑𝑡 𝑑𝑡 |𝒓|
𝑑𝒓 𝑑𝒓 𝑑𝒓 𝑑𝒓
(𝒂. 𝒓) − (𝒂. ) 𝒓 |𝒓|2 ( × 𝒂) − (𝒓. ) (𝒓 × 𝒂)
={ 𝑑𝑡 𝑑𝑡 }−{ 𝑑𝑡 𝑑𝑡 }.
(𝒂. 𝒓)2 |𝒓|3
3.

𝒓 𝒓
𝑟̂ × 𝑑𝑟̂ = ×𝑑( )
𝑟 𝑟
𝒓 1
= × (𝑟𝑑𝒓 − 𝒓𝑑𝑟)
𝑟 𝑟2
1 𝑑𝑟
= 2 (𝒓 × 𝑑𝒓) − 3 (𝒓 × 𝒓)
𝑟 𝑟
𝒓 × 𝑑𝒓
= (Since 𝒓 × 𝒓 = 𝟎 and 𝒓𝟐 = 𝑟 2 )
𝒓2
4. Let 𝑂 be the center of the circle (taken as the origin of reference). Let 𝒊 and 𝒋
be unit vectors along 𝑂𝑋 and 𝑂𝑌 axis’s respectively. Also let position vector of
any point P on the circle be 𝒓 so that ⃗⃗⃗⃗⃗
𝑂𝑃 = 𝒓.
𝑃
𝒓
𝜃
𝑂 𝑋
𝑀
Figure 14.2
Suppose 𝑂𝑃 makes an angle 𝜃 with 𝒓 as shown in the figure 14.2 and 𝑃𝑀 be

perpendicular to the 𝑂𝑋 axis. Then,
𝒓 = ⃗⃗⃗⃗⃗⃗
𝑂𝑀 + ⃗⃗⃗⃗⃗⃗
𝑀𝑃
⟹ 𝒓 = 𝑂𝑀𝒊 + 𝑀𝑃𝒋 = 𝑟(cos 𝜃 𝒊 + sin 𝜃 𝒋)
Note that 𝑟 is the radius of the circle and movements along the circle do not change 𝑟.
𝑑𝑟
∴ 𝑟 = constant ⟹ =0
𝑑𝑡
𝑑𝒓 𝑑𝜃 𝑑𝜃
⟹ = −𝑟 sin 𝜃 𝒊 + 𝑟 cos 𝜃 𝒋
𝑑𝜃
= 𝑟𝑤(− sin 𝜃 𝒊 + cos 𝜃 𝒋) (Where 𝑤 = )
𝑑𝑡
Note that it is given that 𝑤 = angular velocity is a constant.
300
𝑑2𝒓 𝑑
∴ = 𝑟𝑤 (− sin 𝜃 𝒊 + cos 𝜃 𝒋)
𝑑𝑡 2 𝑑𝑡
𝑑𝜃 𝑑𝜃
= 𝑟𝑤 (− cos 𝜃 𝒊 − sin 𝜃 𝒋)
𝑑𝑡 𝑑𝑡
= −𝑟𝑤 2 (cos 𝜃 𝒊 + sin 𝜃 𝒋) = −𝑤 2 𝒓
Hence acceleration = −𝑤 2 𝒓.
Activity 3
f   
= ( Cosxy ) i +
x x x
( )
3xy − 2 x 2 j − ( 3 x + 2 y ) k
x
f
 = − ySinxy i + ( 3 y − 4 x ) j − 3 k
x
f   
= ( Cosxy ) i +
y y y
( )
3xy − 2 x 2 j − ( 3x + 2 y ) k
y
f
 = − xSinxy i + 3x j − 2 k
y
2 f   f  
=   = − ySinxy i + (3 y - 4 x) j − 3 k 
x 2
x  x  x
2 f
 2 = − y 2Cosxy i − 4 j
x
2 f
Similarly, = − x 2Cosxy i
y 2
2 f
and = − ( xy cos xy + Sinxy ) i + 3 j
xy

Review Questions
t2
1. The coordinates of a moving particle are given by x = 4t − and
2
−t 3
y = 3 + 6t . Find the velocity and acceleration of the particle when
6
𝑡 = 2.
2. A particle moves along the curve x = 2t 2 , y = t 2 − 4t and z = 3t − 5

where 𝑡 is the time. Find the components of its velocity and acceleration
at time 𝑡 = 1 in the direction i −3j + k .
3. Find the unit tangent and unit normal vector on the curve x = t 2 − 1,
y = 4t − 3, z = 2t 2 − 6t , at t = 2 ; where 𝑡 is any variable.
4. If r = a sinh t i + b cosh t j , where a and b are constant vectors, then

d 2r
show that =r.
dt 2
ct
5. If r = a sin t i + b cos t j + sin t k , prove that
2
d 2r 2c
+  2 r = cos t k Where 𝑎, 𝑏 and 𝑐 are constant vectors and
dt 2

 is a constant scalar.
6. Show that r = ae mt + be nt (where a and b are the constant vectors) is the

d 2r dr
solution of the differential equation 2
− ( m + n ) + mnr = 0 .
dt dt
Hence solve the equation,
d 2 r dr dr
− − 2r = 0 , where r = i and = j at t = 0 .
dt 2 dt dt
7. If
u = 5t 2 i + tj − t 3k and v = sint i − cos t j Evaluate,
d
i) ( u. v )
dt
d
ii) (u . u)
dt
302
d
iii) (u  v)
dt
8. If
a = sin  i + cos  j +  k , b = cos  i − sin  j − 3k and
c = 2i + 3 j − 3k find d
d
( a  ( b  c ) ) at  =  2 .
du dv d
= wu , = wv (u v ) = w  (u v )
9. If dt dt prove dt .
dr d 2 r
10. If r = a cos t i + a sin t j + at tan  k , find  and
dt dt 2
 dr d 2 r d 3r 
 , 2, 3
 dt dt dt  .
11. If r is a vector function of a scalar 𝑡 and a, b are constant vectors,
differentiate the following with respect to t:
dr
(i) r .a (ii) r a (iii) r
dt
dr 1
r. r2 +  dr 
2
(iv) dt (v) r2 (vi) m 

 dt 
r +a r +a
(vii) r 2 + a2 (viii) r.a (ix) r 2r + ( a . r ) b
dr
(x) r 3r + a  , where r = r = modules of vector r .
dt
drˆ drˆ
12. If r̂ is a unit vector, show that rˆ  = .
dt dt
13. Evaluate,
d  dr d 2 r 
i. r , , 
dt  dt dt 2 
d2  dr d 2 r 
ii. r , , 2 
dt 2  dt dt 

d   dr d 2 r  
iii. r    
dt   dt dt 2  
d2   dr d 2 r  
iv. r    2  
dt 2   dt dt  
14. A particle moves along the curve x = t 3 + 1, y = t 2 and z = 2t + 5

where t is the time. Find the components of its velocity and acceleration at
t = 1 in the direction i + j + 3k .
15. A particle moves along the curve x = 4 cos t , y = 4sin t and z = 6t .


Find the velocity and acceleration at time t =0 and t= . Also find the
2
magnitudes of velocity and acceleration at time t.
16. A particle moves so that its position vector is given by
r = cos wt i + sin wt j , where w is a constant. Show that;
(i) The velocity of the particle is perpendicular to r;

(ii) The acceleration is directed towards the origin and has
magnitude proportional to the distance from the origin;
 dr 
(iii) And r   is a constant vector.
 dt 
17. If ( ) ( )
f = 2 x2 y − x 4 i + e xy − y sin x j + x 2 cos y k , verify that
2 f 2 f
= .
xy yx
18. If A = x 2 yz i − 2 xz j + xz 2 k and B = 2 z i + y j − x 2 k , find
2
( A B) at (1, 0, −2 ) .
xy
19. If f = xz i − xy 2 j + yz 2 k and  = xy 2 z , find the value of
 3 ( f )
.
x 2 z
304
20. If R = x 2 yz i − 2 xz 3 j + xz 2 k and S = 2z i + y j − x2k , find
2
(R + S) at the point ( 0, 0, 2 ) .
xy
21. Let A = xyz i + xz 2 j − y 3k and B = x3i − xyz j + x 2 z k .
2 A 2 B
Calculate  at the point ( 0,1, 0 ) .
y 2 x 2
Summary
A. f (t ) is vector function of the scalar variable 𝑡,

df f (t +  t ) − f (t ) f
= f / (t ) = lim = lim .
dt  t → 0 t  t → 0 t
(i) If f (t ) = f1 (t ) i + f 2 (t ) j + f 3 (t ) k then,
df df1 df df 3
= i + 2 j+ k
dt dt dt dt
(ii) If u(t ) and v (t ) be two differentiable functions of the scalar

d (u + v ) du dv
t , then = +
dt dt dt
d (u . v ) dv du
= u. + .v
dt dt dt
d (u  v ) dv du
= u +  v
dt dt dt
d u , v , w   du   dv   dw 
=  dt , v , w  +  u , dt , w  +  u , v , dt 
dt
d du dv dw
u  (v  w ) =  (v  w ) + u  (  w ) + u  (v  )
dt dt dt dt
B. If f (u, v) = f 1 (u, v) i + f 2 (u, v) j + f3 (u, v) k then,

f f1 f f
= i+ 2 j+ 3 k
u u u u
f f1 f f
= i+ 2 j+ 3 k
v v v v
C. If f ( u, v ) , g ( u, v ) , h ( u, v ) are vector functions of u, v and
 (u, v ) is scalar function of u, v then
 f g
1. ( f  g) = 
u u u
 f g
2. ( f . g) = . g + f .
u u u
 f g
3. ( f  g) =  g + f 
u u u
 f
4.

u
( )
f =
u
f +
u
 f g h
5.  f , g, h =  , g, h +  f , , h +  f , g, 
u  u   u   u 
2 f 2 f
6. = (If and only if 𝒇 is continuous)
uv vu
  f   g  h
7. ( f  g )  h =   g   h +  f    h + ( f  g )
u  u   u  u
D. If f ( u , v ) is a vector function of two scalar variable u and v ,
where u =  (t ) and v =  (t ) possess continuous derivatives, then
df f du f dv
= +
dt u dt v dt
Learning Outcomes
At the end of this session students should be able to,
• Identify vector function 𝒇 of a single scalar variable,

• Identify rule of differentiation and partial differential coefficient.
306
Session 2: Vector Applications of Dynamics
Session 15
Vector Applications of Dynamics
Contents
Introduction, p 307
15.1 Motion in a straight line, p 307
15.2 Motion in Two Dimensions, p 308
15.3 Forces Producing Motion in a plane, p 310
15.4 Motion in Three Dimensions, p 311
15.5 Work done by a Constant Force, p 313
15.6 Frames of Reference, p 313
Answer to the Activities, p 314
Summary, p 324
Learning Outcomes, p 324
Introduction
In this session we will consider the mechanics and the solving of mechanical
problems with the help of vector and pure mathematics. Mechanics, which
deals with the effects that forces have on bodies, is a science.
15.1 Motion in a Straight Line
Consider a particle moving in a straight line such that, at time 𝑡, its

displacement from a fixed point on that lines is s , its velocity is v and its
acceleration is a .
Velocity is the rate of change of displacement; so,

Title of the Block/Unit
ds
v=
dt
Also acceleration is the rate of change of velocity; so,
dv
a=
dt
15.2 Motion in Two Dimensions
Q
P
X
Figure 15.1
If a particle P is free to move in a plane; at any time its displacement,
velocity and acceleration are likely to have different directions as well as
different magnitudes. Consider the components of each of these quantities
parallel to axes 𝑂𝑋 and 𝑂𝑌;
308
Y Y
X X
O O
Figure 15.2 Figure 15.3
If the components of displacement are both functions of time;
x = f (t ) and y = g (t ) .
Thus r = f ( t ) i + g ( t ) j
Using f (t ) to denote

d
 f (t ), the velocity components of 𝑃 are x = f (t )
dt
and y = g (t ) .
So that v = f  (t ) i + g  (t ) j
It can be now be seen that,
d
v= (r )
dt
Similarly by writing the acceleration components of 𝑃 as x = f (t ) and
y = g (t ) we get a = f  ( t ) i + g  ( t ) j showing that,
d d2
a= (v ) = 2 (r )
dt dt

Activity 1
1. A particle moves in the 𝑋𝑌 plane such that its position vector at time 𝑡 is given
by ( ) ( )
r = 3t 2 − 1 i + 4t 3 + t − 1 j. Find vector expressions for the velocity
and acceleration of the particle at time t and hence at t = 2.

2. A particle moves in a plane with a constant acceleration of 2ms −2 in the
direction 𝑂𝑌. Initially it is at the origin with a velocity of 6ms −1 in the
direction 𝑂𝑋. Show that the path of the particle is a parabola.
15.3 Forces Producing Motion in a Plane
Consider a particle of mass 𝑚 whose acceleration under the action of force

F is x i + y j . If the components of F are Fx i and Fy j then;
Fx = mx and Fy = my
So we can write
Fx i + Fy j = m ( x i + y j )
𝑖. 𝑒 F = ma.
Figure 15.4
Activity 2
At time 𝑡 the force acting on a particle 𝑃 of unit mass is 4i − tj. P is initially at rest at
the point with position vector i − 6 j . Find the position vector of 𝑃 when 𝑡 = 2.
310
15.4 Motion in Three Dimensions.
When the motion of a particle is not restricted to a plane, three axes are
needed for a frame of reference. The most convenient axes are a set of three
mutually perpendicular lines 𝑂𝑋, 𝑂𝑌 and 𝑂𝑍.
We use i , j and k to represent unit vectors in the direction 𝑂𝑋, 𝑂𝑌 and 𝑂𝑍

respectively. Hence if the particle is at a point (𝑥, 𝑦, 𝑧), its displacement
from 𝑂 is given by r = x i + y j + z k
Then it follows that v = x i + y j + z k and a = x i + y j + z k where v , a

are velocity and acceleration respectively.
15.4.1. Collision of Moving Particles.
Consider two particles whose position vectors at time 𝑡 are r1 and r2 . If
these particles collide, they are in the same place at the same time, 𝑖. 𝑒. there
is a value of 𝑡 for which r1 = r2 .
It is important to consider that their paths may cross without a collision

taking place; this is because they can be at the same points of the each
other’s paths at different times.
Activity 3
A particle 𝐴 moves with velocity 2i − 3 j from point (4,5). At the same instant a
particle 𝐵, moving in the same plane with velocity 4i + j , passes through a pint 𝐶.
Find whether 𝐴 and 𝐵 collide given that
(a) 𝐶 is (2, −1) (b) 𝐶 is (0, −3)

15.4.2 Distance Apart
Consider two particles 𝑃1 and 𝑃2 whose displacements at time 𝑡 from a fixed

point 𝑂 are r1 and r2 respectively.
Figure 15.5
At any time 𝑡, the line joining 𝑃1 , 𝑃2 represents the vector r2 − r1 . The
distance 𝑑 between the particles is the length of the line 𝑃1 𝑃2 .
𝑖. 𝑒. d = r2 − r1
Unless the particles collide there is a time when they are closest together.
This time can be found by calculating when r1 − r2 is least.
Activity 4
Two particles 𝐴 and 𝐵 start simultaneously from points 𝐴0 and 𝐵0 and move with
constant velocities v A and v B . Find the time, and their distance apart when they are
closest together, if 𝐴0 = (−1, −1), 𝐵0 = (4,4), v A = 2i + j and v B = i − 2 j .
312
15.5 Work done by a Constant Force
Figure 15.6
Consider a constant force F inclined at an angle  to a given line, which
moves a particle through a displacement d along this line.
The work done by the force in causing this displacement is given by
( F cos ) ( d ) = F d cos  = F . d
Example 1
If F = 2 i + 5 j and d = 13 i − 4 j , the work done by F producing a

displacement d is,
F . d = ( 2 i + 5 j ) . (13 i − 4 j )
= ( 2 )(13) + ( 5)( −4 ) = 6
Activity 5
A force of magnitude 20𝑁, acting in the direction of 3i − 4 j , moves a particle from

𝐴 = (−1,5) to 𝐵 = (7,10). Calculate the work done by the force.
15.6 Frame of Reference
Most of the time we judge the position or the movement of an object with
reference to the earth’s surface; 𝑖. 𝑒. the earth’s surface is our basic frames
of reference.

Sometimes, however, we ‘see’ motion that is not relative to the earth. For
an example, if an observer 𝐵 sitting in a moving railway carriage, see a
passenger 𝐴 whose is in another train traveling on another parallel line
toward the same speed in the same direction; 𝐴 appears to be
stationary.Relative to the earth, of course, 𝐴 is moving but, relative to the
observer 𝐵, 𝐴 is stationary.
If 𝐵’s train is traveling at 90 kmh−1 and A’s train is at 100 kmh−1 then 𝐴
passes 𝐵 with a velocity 10 kmh−1. Relative to the earth 𝐴’s speed is
100 kmh−1 but relative to 𝐵 it is (100 − 90)kmh−1 = 10 kmh−1 .
In general the velocity of 𝐴 relative to B is v A − v B . Where v A and v B are
the velocities of 𝐴 and 𝐵 relative to the earth’s surface respectively.
Activity 6
1. A man on a ship whose velocity is 20i − 30 j sees a yacht which has a

velocity of 5i + 4 j . What is the velocity of the yacht relative to the man?
2. A driver of a car traveling due east on a straight road at 40kmh−1 observes a
train moving due north at 75kmh−1 . What is the apparent speed and direction
of motion of the train?
3. To a cyclist riding due south at 20kmh−1 , a steady wind appears to be blowing
in the direction 2400 . When he reduces his speed to 15𝑘𝑚ℎ−1 , (without
changing direction) the wind appears to blow in the direction 2100 . Find the
wind velocity relative to earth.
Answers for Activities
Activity 1
1.
At time ( ) (
t , r = 3t 2 − 1 i + 4t 3 + t − 1 j )
314
( )
dr
Using v= ; v = 6t i + 12t 2 + 1 j
dt
∴ When t =2, v = 12i + 49 j
dv
Using a= gives a = 6 i + 24t j
dt
∴When t =2, a = 6 i + 48 j
2. As the components of acceleration at time 𝑡 , x = 0 and y = 2 , the

acceleration can be written in the form a=2j
Y
2
X
O
6
Figure 15.7
dv
Using a=
dt
 v =  adt , gives
v = ci + ( 2t + k ) j where 𝑐 and 𝑘 are constants of integration.
When t = 0, v = 6i , which implies 𝑐 = 6, and 𝑘 = 0.
Hence v = 6 i + 2t j
dr
Using v=  r =  vdt gives
dt
(
r = ( 6t + c) i + t 2 + k  j ) where 𝑐 ′ and 𝑘 ′ are constants of integration

When = 0 , 𝑟 = 0, gives c  = 0, and k  = 0,
Hence r = 6t i + t 2 j
But r =x i+y j
So x = 6t and y = t 2
Hence at any time 𝑡 the coordinate is (6t, t ) .

2
Elimination of t gives 36𝑦 = 𝑥 2 which is an equation of a parabola.
Activity 2
F = ma gives,
4 i − t j = (1) a
a = 4 i − t j
Then by v =  adt ;
1
v = 4ti − t 2 j + c ; 𝑐 = constant
2
But v =0 when t =0  c=0
1
So v = 4t i − t 2 j
2
The position vector of 𝑃 is 𝒓 where
r =  vdt
1
 r = 2t 2 i − t 3 j + c
6
Where 𝑐 ′ is a constant. When t = 0, r = i − 6 j
 c = i − 6 j .
316
1 
 r = ( 2t 2 + 1) i −  t 3 + 6  j
6 
22
When 𝑡 = 2 the position vector of 𝑃 is 9i − j
5
Activity 3
(a) The equation of motion of A is r1 = 4i + 5 j + t ( 2i − 3 j )
The equation of motion of B is r2 = 2i − j + t ( 4i + j )
If r1 = r2 equating coefficients of 𝒊 gives
4 + 2t = 2 + 4t  t = 1
When 𝑡 = 1, r1 = 6i + 2 j and r2 = 6i . So r1 and r2 cannot be equal to
each other for any value of 𝑡 and the particles do not collide.
(b) In this case r2 = −3 j + t ( 4i + j ) and by equating coefficients of 𝒊,
we get 4 + 2t = 4t  t = 2 . When t = 2, r1 = 8i − j , r2 = 8i − j .
So the particle do collide, when 𝑡 = 2, at the point with position vector
8i − j .
Activity 4
rA = −i − j + t ( 2i + j )
rB = 4i + 4 j + t ( i − 2 j )
rB − rA = 5i + 5 j + t ( −i − 3 j )
If 𝑑 is the distance between A and B, we have
d 2 = (5 − t ) + (5 − 3 t )
2 2
= (
10t 2 − 40t + 50 = 10 t 2 − 4t + 5 )

= 
10 (t − 2) + 1
2

(t − 2)
2
But +1 reaches to its minimum value at 𝑡 = 2 and then 𝑑 2 = 10. So 𝐴 and 𝐵
are closest together when 𝑡 = 2 and the distance is 10 units apart.
Activity 5
The force F is given by;
𝑀𝑎𝑔𝑛𝑖𝑡𝑢𝑑𝑒 × 𝑈𝑛𝑖𝑡 𝑑𝑖𝑟𝑒𝑐𝑡𝑖𝑜𝑛 𝑣𝑒𝑐𝑡𝑜𝑟
 3i − 4 j 
i.e. F = 20   = 12i − 16 j
 5 
The displacement vector is AB = 8i + 5 j = d
The work done by F is,
F . d = (12  8) − (16  5) = 16
Hence the work done F is 16𝐽.
Activity 6
1.
The velocity of the shift is Vs = 20i = 30 j
The velocity of the yacht is Vy = 5i + 4 j
The apparent velocity is Vy − Vs = ( 5i + 4 j ) − ( 20i − 30 j ) = −15i + 34 j
To the man on the shift, the velocity of the yacht appears to be −15i + 34 j
2. If the velocity of the car is vc and the velocity of the train is vT , the velocity of
the train relative to the car is,
318
vT − vc = vT + ( −vc )
40 B
C B C
N
75
W E
S
A
A
Figure 15.8
In triangle 𝐴𝐵𝐶, AB represents vT to scale and BC represents vc to scale. So
AC = vT − vc to the same scale.
Measurements give 𝐴𝐶 = 85𝑘𝑚ℎ−1 and the apparent direction of motion is

1180 (𝑁 280 𝑊).
3. Taking 𝒊 and 𝒋 to represent unit velocity vectors east and north respectively we
have,
First velocity of cyclist is v A = −20 j
Second velocity of cyclist is v B = −15 j
Unknown wind velocity is vw
At first the apparent wind velocity has a direction,
sin 2400 i + cos 2400 j = − sin 600 − cos 600
3 1
i.e. − i − j , but its magnitude is not known.
2 2
 3 1 
So v w − v A =   i− j  (01)
 2 2 
Similarly for the second case
 1 3 
vw − v B =   − i − j  (02)
 2 2 

(01) − (02) gives,
1 3   3 1 
v B − v A =   −   i +   −   j
2 2   2 2 
But , v B − v A = −15 j − ( −20 j ) = 5 j
1 3   3 1 
   −   i +   −   j = 5 j
2 2   2 2 
Equating coefficients of 𝒊 and 𝒋 gives,
1 3 3 1
−  =0 and −  =5
2 2 2 2
  = 5 and  = 5 3
From equation (01) we now have,
 3 1  5 3 45
vW = v A + 5  − i− j  = − i− j
 2 2  2 2
𝑖. 𝑒.
Figure 15.9
1
 5 3  2 2 2
 45  
Hence vW =   +    = 5 21
 2   2  
1  1 
And tan  =   = tan −1  
3 3 3 3
So the true wind velocity is 5 21 kmh-1 in the direction 2700 − 𝜃.
320
Review Questions
1. A particle moves in the 𝑋𝑌 plane such that its displacement from 𝑂 at time 𝑡 is
given by r = 3t 2 i + ( 4t − 6 ) j . Find vector expressions for the velocity and
acceleration of the particle at time 𝑡 and hence at t = 4.

2. A particle moves in the 𝑋𝑌 plane such that it has an acceleration a at time 𝑡 where
a = 2 i − j . Initially the particle is at rest at the point 3 i + j Find the position

vector of the particle at time 𝑡.
3. A particle moves in the 𝑋𝑌 plane such that its velocity at time 𝑡 is given by
v = 3t 2 i + ( t − 1) j . Find the acceleration vector and position vector of the

particle at time 𝑡.
4. The position vector of a particle at time 𝑡 is given by r = cos t i + sin t j .

Show that the speed of the particle is constant.
5. A particle moves in a plane with a constant acceleration vector. The velocity vector
is zero when 𝑡 = 0 and equal to 3i − 3 j when 𝑡 = 1. Find an expression for the
velocity vector at any time 𝑡.
6. At time 𝑡, the position vector r at the point 𝑃 with respect to the origin 𝑂 is given
by r = (  sin t ) i +  j , where  and  are constants. Show that the vector
a +  2 r is constant during the motion; where a is the acceleration vector.
7. A particle moves in the 𝑋𝑌 plane and at time 𝑡 its, acceleration components are
2 9
x = and y = . Initially the particle is at rest at the origin. Find the velocity
x y 2
components x and y as functions of 𝑡 and hence show that the equation of the
8 9
3  4 
path is  x =  y .
4  9 
8. A force F acts on a particle of mass 𝑚, whose acceleration, velocity and position

vector at time 𝑡 are a , v and r . When 𝑡 = 0 the particle is at a point with position
vector r0 with velocity v0 .
(i) F = 3i + 4 j , m = 1, r = 0 and v0 = 0 . Find a , v and r .

(ii) F = ( sin t ) i + ( cos t ) j, m = 2, r0 = − j , v0 = i . Find v and r .

(iii) A particle 𝑃 of mass 1kg is at rest at the point 𝐴 whose position relative to
a fixed pint 𝑂 is i − 4 j . If a constant force 3i − j acts on the particle, find its
velocity and displacement from 𝐴 after time 𝑡. What is the position vector of 𝑃
relative to 𝑂 when 𝑡 = 2?
9. A particle is moving with velocity vector, v = 3t 2 i − 4t j + t 2 k. When t = 0 it

is at the point (1,0,1). Find the position vector when 𝑡 = 2. Also find the magnitude
of the acceleration when 𝑡 = 2.
10. A force F acts on a particle of mass 𝑚, whose acceleration, velocity and position
vector at time 𝑡 are a, v and r. When 𝑡 = 0 the particle is at a point with position
vector r0 with velocity v0 .
(i) a = ( sin t ) i + j, v0 = −i + k and r0 = 0. Find v and r .
(ii) r = 6t i − t 3 j + ( cos t ) k , m = 3. Find F and the magnitude of a when

1
t=  and the speed when t =  .
2
11. Two particles 𝐴 and 𝐵 have position vector at time 𝑡 given by
rA = 3i − t j + t 2 k and rB = (t 2 − 1) i + 2 j − 2t k . Find the value(s) of 𝑡 for

which 𝐴 and 𝐵 could collide, giving the position vectors of the point(s) of collision.
12. Two particles r1 and r2 are the position vectors of two particles at time 𝑡.
Determine whether the particles collide and, if do, give the value(s) of 𝑡 when this
occurs and the position vector(s) of the point of collision.
(i) r1 = 2 i + j + (cos  t ) i + (sin  t ) j + t k
r2 = i + 2 j + k + (sin 2 t )i − (cos 2 t ) j
(ii) r1 = (3 + t 2 ) i + (7 + t ) j + (1 − t ) k
r2 = (11 + 2t ) i + 11 j + (11 − t 2 ) k
13. Find the shortest distance between 𝐴 and 𝐵 whose position vectors at time 𝑡 are
rA and rB respectively, when;
(i) rA = i + ( sin t ) j
322
rB = ( cos t ) i + j
(ii) ( )
rA = 3 − t 2 i + (1 + t ) j
rA = ( 2 + t ) i − t 2 j
14. F is of magnitude 52𝑁 and it moves an object through a displacement vector

7 i − 2 j . The direction of F is parallel to a = 12i − 5 j . Calculate the work done
by the force F .
15. F is of magnitude 50𝑁 and the direction is parallel to 6i − 8 j . It acts on a

particle which moves 75𝑚 along the following line whose vector equation is
r = 2i + 9 j +  ( 24i − 7 j ) . Calculate the work done by F .
16. 𝑚 = 7, v is of magnitude  and is in the direction parallel to the line with vector
equation r = 9i + 4 j +  ( i − j ) . Calculate the kinetic energy of a particle of

mass.
(Hint : The kinetic energy of a particle of mass 𝑚 moving with velocity v

is 1 mv2 = 1 m(v. v ) )
2 2
17. A particle of mass 2kg moves in the 𝑋𝑌 plane under the action of a force F where
F = 2i − 6 j + k . Initially the particle is at the point whose position vector is
i + j − 2k with a velocity vector i − 2 j + 3k . Find the position vector of the
particle at any time 𝑡.
18. To an observer in a boat moving north east at 20 kmh−1 , an aero plane appears to
be flying due west at 100kmh−1 . What is the actual course and speed of the aero
plane?
19. A particle 𝐴 moves with a velocity 6 ( i − j ) and a particle 𝐵 moves with a velocity
5i − 7 j . What is the velocity of 𝐵 relative to 𝐴 and 𝐴 relative to 𝐵.
20. A ship 𝑃 is moving due east at 15kmh−1 . The velocity of a second ship 𝑄 relative
to 𝑃 is 12kmh−1 in a direction 300 from east to north. Find the velocity of the ship 𝑄
relative to earth.
21. A girl is riding a horse along a straight path at 5kmh−1 . A second rider is moving at
3kmh−1 along a perpendicular straight path. What is the velocity of the second rider
relative to the first?

22. A passenger in a train traveling north east at 100kmh−1 sees a car moving on a
straight road. The car seems to be traveling in the direction 2100 from east at
125 kmh−1 . What is the velocity of the car relative to earth?
23. Two air crafts are flying in the same height on straight paths. The first is flying at
400kmh−1 due north. The actual speed of the second air craft is 350kmh−1 . For
the pilot of the first aircraft, it appears to be in a path 2200 from east. Find the
actual direction of the second aircraft.
Summary
A. Consider a particle moving in a straight line such that, at time 𝑡 ,it’s

displacement from a fixed point on that lines is s , its velocity is v
and its acceleration is a ,
dv d 2 s
a = =
dt dt 2
ds
v =
dt
B. F = ma
F = m( x i + y j)
Figure 15.10
Fx i + Fy j = m ( x i + y j )
Fx = mx
Fy = my
Learning Outcomes
On completion of this session you should be able to study;
• Motion in a straight line, two dimensions and three dimension.

• Forces producing motion in a plane.
• Work done by a constant force and frames of reference.
324

Vector Functions and Space Curves: Unit V

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Unit 5 – Vector Functions and Space Curves

VECTOR FUNCTIONS AND SPACE

Vector constitute one of the several mathematical tools which can be

©2020, The Open University of Sri Lanka 287

Differentiation of Vector functions

14.1 Vector function of a single scalar Variable, p 288

14.2 Derivative (Differential coefficient) of a Vector function, p 289

14.3 Geometric Interpretation of the Derivative, p 290

14.4 Properties of Derivatives, p 292

14.5 Partial Derivative of a Vector function, p 294

Answer to the Activities, p 298

Learning Outcomes, p 306

In this session we will consider the differentiation of vectors. In engineering

14.1 Vector function of a single scalar variable

Let 𝑡 be a scalar variable on the interval [𝑎, 𝑏] and 𝒓 be a vector corresponds

As usual, the particular value of 𝒇(𝑡) at 𝑡 = 𝑎 is written as 𝒇(𝑎).

A vector function 𝒇(𝑡) in the three dimensional space can be expressed in

𝒇 = 𝑓1 (𝑡)𝒊 + 𝑓2 (𝑡)𝒋 + 𝑓3 (𝑡)𝒌;

Where 𝑓1 (𝑡),𝑓2 (𝑡) and 𝑓3 (𝑡) are scalar functions of 𝑡.

14.2 Derivative (differential coefficient) of a vector

If 𝒇(𝑡) is a vector function of a scalar variable 𝑡, then

𝒇(𝑡 + 𝛿𝑡) − 𝒇(𝑡)

A function is said to be differentiable if it has finite differential coefficient

The derivative of 𝒇(𝑡) at 𝑡 = 𝑡0 is given by,

©2020, The Open University of Sri Lanka 289

As in scalar calculus, if we denote the changes in 𝑡 and 𝒇(𝑡) by 𝛿𝑡 and 𝛿𝒇

14.3 Geometrical Interpretation of the Derivative

Let 𝑂 be the origin and 𝑃 be the position of a moving particle at time 𝑡.

∴ ⃗⃗⃗⃗⃗ ⃗⃗⃗⃗⃗⃗ − ⃗⃗⃗⃗⃗

When 𝑄 → 𝑃, 𝛿𝑡 → 0 the chord 𝑃𝑄 becomes the tangent at 𝑃. We define

14.3.1 Successive derivative

14.3.2 Physical Interpretation of the first and second derivatives

Similarly if 𝛿𝒗 be the increment in the velocity vector 𝒗, corresponding to

©2020, The Open University of Sri Lanka 291

1. A particle moves along the curve = 𝑡 3 + 1, 𝑦 = 𝑡 2 and 𝑧 = 2𝑡 + 5 where 𝑡 is the

(i) Tangent Vector

(ii) Unit Tangent Vector

(iii) Normal vector

(iv) Unit Normal Vector

14.4 Properties of Derivatives

1. If 𝒇(𝑡) = 𝑓1 (𝑡)𝒊 + 𝑓2 (𝑡)𝒋 + 𝑓3 (𝑡)𝒌 be a differentiable vector

3. If 𝒖(𝑡) and 𝒗(𝑡) are two differentiable functions of scalar 𝑡, then

Let 𝒇(𝑡) = 𝒖(𝑡) + 𝒗(𝒕). Consider,

𝒇(𝑡) − 𝒇(𝑡 + 𝛿𝑡)

𝒇(𝑡) − 𝒇(𝑡 + 𝛿𝑡)

5. If 𝒖(𝑡) is a differentiable vector function and 𝜑(𝑡) is a

6. If 𝒖(𝑡) and 𝒗(𝑡) are two differentiable vector functions of scalar

7. If 𝒖(𝑡), 𝒗(𝑡) and 𝒘(𝑡) are three differentiable vector functions of

©2020, The Open University of Sri Lanka 293

8. If 𝒖(𝑡), 𝒗(𝑡) and 𝒘(𝑡) are three differentiable vector functions of

Where 𝒓 a vector function of 𝑡 and 𝒂 is a constant vector.

4. A particle 𝑃 is moving on a circle of radius 𝑟 with constant angular velocity

14.5 Partial Derivatives of a vector function

1. If 𝒇(𝑢, 𝑣) is a vector function of two scalar variables 𝑢 and 𝑣, then

𝒇(𝑢 + 𝛿𝑢, 𝑣) − 𝒇(𝑢, 𝑣)

Partial derivatives of second and higher orders

14.5.1 Properties of differentiation of vector functions of two

 ( u, v ) be a scalar function of u , v. Then