MTH 234 – Chapter 13

Vector Functions
Compiled by Ryan Maccombs

Contents

1 Vector Functions and Space Curves 2

1.1 Space and Points in Space – Video Before Class . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2
1.2 Parametrizing Curves – During Class . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5

2 Derivatives and Integrals of Vector Functions 10

2.1 Upgrading from Scalar to Vector Calculus – Video Before Class . . . . . . . . . . . . . . . . . . . . . . . . . . . 10
2.2 Tangent Lines and Unit Tangent Vectors – During Class . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 12

4 Motion in Space: Velocity and Acceleration 14

4.1 Introduction to the Physical Applications of Vector Calculus – Video Before Class . . . . . . . . . . . . . . . . 14
4.2 Additional Theorems and Practice – During Class . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 16

3 Arc Length and Curvature 19

3.1 Upgrading Arc Length to 3 Dimensions – Video Before Class . . . . . . . . . . . . . . . . . . . . . . . . . . . . 19
3.2 Additional Practice with Arc Length – During Class . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 21
MTH 234 Chapter 13 - Vector Functions MSU

1 Vector Functions and Space Curves

1.1 Space and Points in Space – Video Before Class
Objective(s):
• Define vector functions and space curves.

• Define limits and continuity for vector functions.

• Parametrize curves of intersection.

Definition(s) 1.1. In general, a function is a rule that assigns to each element in the domain an element in the range. A

vector-valued function , or vector function is simply a function whose domain is a

set of real numbers and whose range is a set of vectors (primarily in R3 ).

Ex: line r(t) = ht, 2t + 1, 3 − ti

x
z

Ex: helix r(t) = h2 cos t, 2 sin t, ti

Definition(s) 1.2. If r(t) is a vector function (whose vectors are in R3 ) then

r(t) = hf (t), g(t), h(t)i = f (t)i + g(t)j + h(t)k

where f, g, and h are real-valued functions called the component functions of r.

√
Example 1.3. What are the component functions of r(t) = ht2 + 1, sin t, 3
1 − ti?

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MTH 234 Chapter 13 - Vector Functions MSU

Or goal will now be to develop calculus for vector valued functions. Before we get to derivatives or integrals let’s start with

the basics. . . limits.

Definition(s) 1.4. If r(t) = hf (t), g(t), h(t)i, then

lim r(t) = hlim f (t), lim g(t), lim h(t)i

t→a t→a t→a t→a

provided the limit of each component function exists

Recall:

Old Calc 1 Theorem

A function f (t) is continuous at a if and only if

lim f (t) = f (a)

t→a

And likewise a vector function r is continuous at a if and only if

lim r(t) = r(a)

t→a

D sin 2t E
Example 1.5. Compute the limit: lim 1 + 3t2 , te−3t ,
t→0 t


√
h(1 − t)2 , sin t, 9 + t2 i if t ≤ 0


Example 1.6. Is r(t) continuous at t = 0? Where r(t) =
hcos t, tet , 1 + 2ti

 if t > 0

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MTH 234 Chapter 13 - Vector Functions MSU

A big part of this section is parametrizing curves as vector functions. Here are the appropriate definitions

Definition(s) 1.7.

(a) If f, g, and h are continuous real-valued functions on an interval I ∈ R. Then the set C of all point (x, y, z) in space

where

x = f (t) y = g(t) z = h(t)

and t varies throughout the interval I is called a space curve . We can also define

planar curves by removing the z component.

(b) Space curves are extremely similar to vector functions (just like points are close vectors ).

(c) Parametrizing curves in the xy−plane is covered in Calc 2 (section 10.1 of Stewart). For the most part though we

start with a parametrization and work for a Cartesian equation. Now we want to go the other way. Still this can be

a nice review for parametrizations. I have a video on the subject at:

https://mediaspace.msu.edu/playlist/dedicated/41352981/1_djm96l7a/1_ue9nv7rv

Example 1.8. Find a vector function that represents the curve of intersection of the cylinder x2 + y 2 = 1

and the plane x + z = 5

r(t) = hcos t, sin t, h(t)i t ∈ [0, 2π] satisfies cylinder

z = 5 − x =⇒ h(t) = 5 − cos t will work therefore

r(t) = hcos t, sin t, 5 − cos ti non-uniquely of course. graph to verify.

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MTH 234 Chapter 13 - Vector Functions MSU

1.2 Parametrizing Curves – During Class

Objective(s):
• Parametrize curves.
• Understand why not all parametrizations are created equal.

In the book I feel like they skip quite quickly past how to parametrize curves but this because extremely important in CH16

so we need to spend some real time looking at the techniques and subtleties of parametrizing curves.

Example 1.9. Find a vector function that represents the curve of intersection of the surfaces z = x2 y and x2 + y 2 = 4

Example 1.10. Suppose I want to find vector function that represents the curve y = x2 + 2x + 1, x ∈ [0, 2] (note we are in

R2 ). Which parametrization is best to start with and why?

(i) r(t) = hcos t, sin ti

(ii) r(t) = ht, ?i

(iii) r(t) = h?, ti

Then find a parametrization.

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MTH 234 Chapter 13 - Vector Functions MSU

Example 1.11. Suppose I want to find vector function that represents the curve x = y 2 + 2y + 1, y ∈ [0, 2] (note we are in

R2 ). Which parametrization is best to start with and why?

(i) r(t) = hcos t, sin ti

(ii) r(t) = ht, ?i

(iii) r(t) = h?, ti

Then find a parametrization.

Example 1.12. Suppose I want to find vector function that represents the curve 1 = x2 + y 2 (note we are in R2 ). Which

parametrization is best to start with and why?

(i) r(t) = hcos t, sin ti

(ii) r(t) = ht, ?i

(iii) r(t) = h?, ti

Then find a parametrization.

Tips to parametrizing in 2D

1. If y = f (x) , that is the curve passes the vertical line test then start with the

parametrization r(t) = ht, ?i .

2. If x = f (y) , that is the curve passes the horizontal line test then start with the parametriza-

tion r(t) = h?, ti .

3. If the curve is closed (starts and stops at same point) then start with the

parametrization r(t) = hcos t, sin ti .

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MTH 234 Chapter 13 - Vector Functions MSU

Note, sometimes there are still difficulties.

x2
Example 1.13 (Skip if need time). Parametrize the ellipse + y 2 = 1 (in R2 ).
4

Example 1.14 (Skip if need time). Parametrize the circle x2 + 2x + y 2 = 8 (in R2 ).

Example 1.15. Just to assure you there is harder math out there the hyperbola x2 − y 2 = 1 (in R2 ) is best parametrized by:

r(t) = hcosh t, sinh ti

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MTH 234 Chapter 13 - Vector Functions MSU

Example 1.16. Find a vector function that represents the curve of intersection of the two surfaces y = 4z 2 + x2 and x = z 2

Tips to parametrizing in 3D

1. If y = f (x) and z = g(x), that is the curve passes the x = k

vertical plane test then start with the parametrization r(t) = ht, ?, ?i.

2. If x = f (y) and z = g(y), that is the curve passes the y = k

vertical plane test then start with the parametrization r(t) = h?, t, ?i.

3. If x = f (z) and y = g(z), that is the curve passes the z = k

horizontal plane test then start with the parametrization r(t) = h?, ?, ti.

4. If the curve is closed (starts and stops at same point) then consider a parametrization with

sin(t) and cos(t) in it.

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MTH 234 Chapter 13 - Vector Functions MSU

Example 1.17. Find a vector function that represents the curve of intersection of the sphere x2 + y 2 + z 2 = 6

and the paraboloid z = x2 + y 2 .

p
Example 1.18. Find a vector function that represents the curve of intersection of the surfaces z = x2 + y 2 and z = 1 + y.

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MTH 234 Chapter 13 - Vector Functions MSU

2 Derivatives and Integrals of Vector Functions

2.1 Upgrading from Scalar to Vector Calculus – Video Before Class
Objective(s):
• Define the derivative and integral on vector functions

• Go over some properties of vector calculus.

• Get a little practice.

Definition(s) 2.1.

(a) If r(t) = hf (t), g(t), h(t)i where f, g, and h are differentiable functions then

r0 (t) = hf 0 (t), g 0 (t), h0 (t)i

is the derivative of r.

(b) If r(t) = hf (t), g(t), h(t)i where f, g, and h are integrable functions then

Z b DZ b Z b Z b E
r(t) dt = f (t) dt, g(t) dt, h(t) dt
a a a a

is the definite integral of r.

Technically these should be defined as:

r(t + h) − r(t)
r0 (t) = lim
h→0 h

and
Z b n
X
r(t) dt = lim r(t∗i )4t
a n→∞
i=1

However in this class we will not focus too much on these mathematically rigorous definitions. Basically you should

remember that everything happens as you would expect.

Example 2.2. Consider the function r(t) = ht3 , sin(t), e3t i. Find r0 (t).

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MTH 234 Chapter 13 - Vector Functions MSU

Z π
Example 2.3. Evaluate the integral ht3 , sin(t), e3t i dt
0

Theorem 2.4. Suppose u and v are differentiable vector functions, c is a scalar, and f is a real-valued function. Then:

d
(a) [u(t) + v(t)] = u0 (t) + v0 (t)
dt
d
(b) [cu(t)] = cu0 (t)
dt
d
(c) [f (t)u(t)] = f 0 (t)u(t) + f (t)u0 (t)
dt
d
(d) [u(t) · v(t)] = u0 (t) · v(t) + u(t) · v0 (t)
dt
d
(e) [u(t) × v(t)] = u0 (t) × v(t) + u(t) × v0 (t)
dt
d
(f) [u(f (t))] = f 0 (t)u0 (f (t))
dt

Now to clear my conscious I have included a proof of (c). The book also proves formula (d)
Proof of (c)

d d
[f (t)u(t)] = [f (t)hu1 (t), u2 (t), u3 (t)i] (Definition of u)
dt dt
d
= [hf (t)u1 (t), f (t)u2 (t), f (t)u3 (t)i] (Definition of scalar multiplication)
dt
Dd d d E
= (f (t)u1 (t)) , (f (t)u2 (t)) , (f (t)u3 (t)) (Definition of vector derivative)
dt dt dt
0 0 0 0 0 0
= hf (t)u1 (t) + f (t)u1 (t), f (t)u2 (t) + f (t)u2 (t), f (t)u3 (t) + f (t)u3 (t)i (Scalar function product rule (from MTH 132))
0 0 0 0 0 0
= hf (t)u1 (t), f (t)u2 (t), f (t)u3 (t)i + hf (t)u1 (t), f (t)u2 (t), f (t)u3 (t)i (Vector addition)
0 0 0 0
= f (t)hu1 (t), u2 (t), u3 (t)i + f (t)hu1 (t), u2 (t), u3 (t)i (Scalar multiplication)
0 0
= f (t)u(t) + f (t)u (t) (Definition of u(t) and u0 (t))

Example 2.5. Suppose you know

f (1) = 3 u(1) = h3, 0, −5i

0
f (1) = −4 u0 (1) = h0, 1, 2i

d 
Find [f (t)u(t)] .

dt t=1

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MTH 234 Chapter 13 - Vector Functions MSU

2.2 Tangent Lines and Unit Tangent Vectors – During Class

Objective(s):
• Parametrize tangent lines to vector functions.
• Define unit tangent vectors and be able to calculate it.

Calc 1 Theorem

(a) f 0 (a) is the slope of f (x) at a.

PICTURE
0
(b) L(x) = f (a)(x − a) + f (a) is the linearization of f (x) at a

(aka it is the tangent line to f (x) through x = a).

Theorem 2.6.

(a) r0 (a) is the direction (or tangent vector ) of r(t) at a.

PICTURE
(b) L(t) = r0 (a)(t − a) + r(a) is the linearization of r(t) at a

(aka it is the tangent line to r(t) through t = a).

Example 2.7. Find parametric equations for the tangent line to the curve r(t) = ht, e−t , 2t − t2 i through the point (0, 1, 0).

a=0

r0 (t) = h1, −e−t , 2 − 2ti

r0 (a) = r0 (0) = h1, −1, 2i

L(t) = h1, −1, 2i(t − 0) + h0, 1, 0i

x=t

y =1−t

z = 2t

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MTH 234 Chapter 13 - Vector Functions MSU

Definition(s) 2.8. The unit tangent vector is defined to be

r0 (t)
T(t) =
|r0 (t)|

Example 2.9. If r0 (5) = h2, 1, 2i find T(5)

Example 2.10. Find the unit tangent vector of r(t) = te−t i + arctan tj + 2et k

Example 2.11. Find the unit tangent vector of r(t) = te−t i + arctan tj + 2et k when t = 0

1
r0 (t) = (e−t − te−t )i + j + 2et k
1 + t2
1
r0 (0) = (1 − 0)i + j + 2k
1
r0 (0) = i + j + 2k
√
|r0 (0)| = 1 + 1 + 4
1
T (0) = √ h1, 1, 2i
6

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MTH 234 Chapter 13 - Vector Functions MSU

4 Motion in Space: Velocity and Acceleration

4.1 Introduction to the Physical Applications of Vector Calculus – Video Before Class
Objective(s):
• Define velocity, speed, and acceleration of vector functions

• Review Newton’s second law of motion as it applies to vector calculus.

• Get a little practice.

Note if you read the text book that we will be skipping Tangential and Normal Components of Acceleration and

Kepler0 Laws of Planetary Motion.

For this section we will take r(t) to be the position vector of a particle moving through space at time t.

Definition(s) 4.1.

(a) The velocity vector v(t) at time t is given by: v(t) = r0 (t)

(b) The speed of a particle at time t is given by: Speed = |v(t)|

(c) The acceleration of the particle is defined as: a(t) = v0 (t)

Theorem 4.2 (Newton’s Second Law of Motion).

(a) The vector version of Newton0 s second law states that:

F(t) = ma(t)

(b) In this class we will do many 2 dimensional problems with the force of gravity. That is with:

F(t) = −mgj = h0, −mgi

or equivalently:

a(t) = −gj = h0, −gi

Note that typical value of g (on earth) are 9.8m/s2 , 10m/s2 for nice calculations, or 32f t/s2 .

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MTH 234 Chapter 13 - Vector Functions MSU

Example 4.3. A projectile is fired with muzzle speed 150 m/s at an angle of elevation of 45◦ from a position 10 m above

ground level.

(a) Find a(t), v(t), and r(t).

(b) What is the projectile0 s maximum height?

(c) Where does the projectile hit the ground?

(d) What is the projectile0 s speed on impact?

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MTH 234 Chapter 13 - Vector Functions MSU

4.2 Additional Theorems and Practice – During Class

Objective(s):
• Go over some theorems that are covered in the book and refrain from memorizing them. Instead think where they
come from!
• Practice more problems covering physical applications of vector calculus.

The book includes the following theorem:

Theorem 4.4. Assume that α is the angle of elevation and that |v(0)| = υ0 is the initial speed. If we consider the initial

position to be r(0) = h0, 0i and assume that gravity is the only force acting on the projectile then we have that:

(a) Acceleration is a(t) = h0, −gi

(b) Velocity is v(t) = hυ0 cos α, υ0 sin α − gti

(c) Position is r(t) = h(υ0 cos α)t, (υ0 sin α)t − 21 gt2 i

υ02 sin(2α) 2υ0 sin α

(d) Horizontal distance (range) is which occurs at t = .
g g

υ02 sin2 α υ0 sin α

(e) Maximum height is which occurs at t = .
2g g

It may be very tempting to use these to solve WeBWorK problems. However they are very difficult to memorize and only

apply is select situations. Instead you should know how these are derived (much easier and logical to memorize) and will help

you do well on quizzes and exams. For the following please use the notation r(t) = hx(t), y(t)i.

Ideas of Proofs

(a) Given by statement “Only force acting on projectile is gravity”

(b) Integrate a(t), Use v(0) = hυ0 cos α, υ0 sin αi to solve for constant of integration.

(c) Integrate v(t), Use r(0) = h0, 0i to solve for constant of integration.

(d) Solve y(t) = 0 for t, plug into x(t) .

(e) Solve y 0 (t) = 0 for t, plug into y(t) .

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MTH 234 Chapter 13 - Vector Functions MSU

Example 4.5. Find the velocity, accelerations, and speed of the particle with position function r(t) = ht, t2 , 2i.

Example 4.6. Find the velocity and position vectors of a particle that has the given conditions

a(t) = h1, 2, 0i, v(0) = h0, 0, 1i, r(1) = h1, 2, 0i

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MTH 234 Chapter 13 - Vector Functions MSU

Example 4.7. A ball is thrown at an angle of 45◦ to the ground. If the ball lands 30m away, what was the initial speed of

the ball?

Example 4.8. A ball is thrown eastward into the air from the origin (in the direction of the positive x−axis). The initial

velocity is 50i + 80k with speed measured in feet per second. The spin of the ball results in a southward acceleration of 4

ft/s2 , so the acceleration vector is a = −4j − 32k. Where does the ball land and with what speed? (NOTE: We are in 3

dimensions!)

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MTH 234 Chapter 13 - Vector Functions MSU

3 Arc Length and Curvature

3.1 Upgrading Arc Length to 3 Dimensions – Video Before Class
Objective(s):
• Upgrade our calculus 2 arc length formula so it can be used in 3 dimensions.

• Define the arc length function.

• Get a little practice calculating arc length.

Note if you are reading out of the book we are skipping Curvature and The Normal and Binormal Vectors portions of

this section. We will focus on arc length.

Definition(s) 3.1. A parametrization r(t) is called smooth on an interval I if r0 (t) is continuous and

r0 (t) 6= 0 on I. A curve is called smooth if it has a smooth parametrization.

We will use smooth parametrizations later in the course. Now recall:

Old Theorems

(a) (Calc 1 Theorem): If we have the velocity function v(t) = r0 (t) (notice this is not a vector function) then the total

distance traveled is given by:

Z b
D= |r0 (t)| dt
a

(b) (Calc 2 Theorem): If a curve C is parameterized by (x(t), y(t)) then the length of C (denoted L(C)) is given by the

formula:
Z b p
L(C) = (x0 (t))2 + (y 0 (t))2 dt
a

(c) (Calc 2 Theorem) REVISED: If a curve C is parameterized by r(t) = hx(t), y(t)i then the length

of C (denoted L(C)) is given by the formula:

Z b
L(C) = |r0 (t)| dt
a

Now let’s make up a Length formula for a 3 dimensional curve!

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MTH 234 Chapter 13 - Vector Functions MSU

Theorem 3.2. If a curve C is given by the vector equation r(t) = x(t)i + y(t)j + z(t)k then the length of C (denoted

L(C)) is given by the formula:

Z b
L(C) = |r0 (t)| dt
a

Example 3.3. Find the arc length of r(t) = hcos t, sin t, 2ti from t = 0 to t = 5.

z
(cos 5, sin 5, 10)

y
x

So we want to realize that we can treat b as a variable to get an arc length function that we will call s(b) (for now).

Theorem 3.4 (Arc Length Function with Base Point a).

Z b
s(b) = |r0 (t)| dt
a

Most people don0 t like to use b as a variable so lets rename a few things to get our variable to be t.

Theorem 3.5 (Arc Length Function with Base Point a).

Z t
s(t) = |r0 (u)| du
a

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MTH 234 Chapter 13 - Vector Functions MSU

3.2 Additional Practice with Arc Length – During Class

Objective(s):
• Calculate the length of more curves!
• Calculate the arc length function and use it to solve some problems!

D t3 E
Example 3.6. Find the length of the curve: r(t) = 2t, t2 , , t ∈ [0, 1]
3

Example 3.7. Find the length of the curve: r(t) = i + t2 j + t3 k, 0≤t≤2

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Example 3.8. Find the length of the curve: r(t) = hcos t, sin t, ln(cos t)i, t ∈ [0, π/4]

Example 3.9. Find the arc length parametrization of the curve: r(t) = h2 cos t, 2 sin t, 3ti with base point π

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Example 3.10. Consider the vector function r (t) = hcos(−t), sin(−t), t + 1i.

(a) Find the arc length function with the initial point h1, 0, 1i.

(b) Find the time in which a particle has traveled 7 units along the curve from h1, 0, 1i in the positive direction.

(c) Find the location of the particle in (b).

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MTH 234 Chapter 13 - Vector Functions MSU

Example 3.11. Consider the surfaces z = x2 + y 2 and x2 + y 2 = 9.

(a) Parametrize the curve of intersection between the surfaces.

(b) Sketch a picture to see what the curve looks like.

(c) Guess the length of the curve in problem (a). Use the arc length formula to check.

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