Engineering Mathematics I Lecture 10: Vector and Prof. Dr.

Emad Al-Hemiary
Second Year, First Semester Scalar Functions
2022-2023

Vector Function
we define a vector function 𝒗
⃑ , whose values are vectors, that is,
⃑ (𝑃) = [𝑣
⃑ =𝒗
𝒗 ⃑⃑⃑⃑1 (𝑃), ⃑⃑⃑⃑
𝑣2 (𝑃), ⃑⃑⃑⃑
𝑣3 (𝑃)] (10.1)
that depends on points 𝑃 in space
A vector function defines a vector field in a domain of definition. Examples:

the field of tangent vectors velocity field of a rotating

normal vectors of a surface
of a curve body

Note that vector functions may also depend on time 𝑡 or on some other parameters.

Scalar Function
Similarly, we define a scalar function 𝑓, whose values are scalars, that is,
𝑓 = 𝑓(𝑃) (10.2)
that depends on 𝑃.
A scalar function defines a scalar field in that three-dimensional domain or surface or curve in
space. Examples of scalar fields are:
• the temperature field of a body and
• the pressure field of the air in Earth’s atmosphere.
Note that scalar functions may also depend on some parameter such as time t.

Euclidean Distance in Space

The distance 𝑓(𝑃) of any point 𝑃 from a fixed point 𝑃0 in space is a scalar function whose domain
of definition is the whole space. 𝑓(𝑃) defines a scalar field in space

𝑓(𝑃) = 𝑓(𝑥, 𝑦, 𝑧) = √(𝑥 − 𝑥0 )2 + (𝑦 − 𝑦0 )2 + (𝑧 − 𝑧0 )2 (10.3)

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 Engineering Mathematics I Lecture 10: Vector and Prof. Dr. Emad Al-Hemiary
Second Year, First Semester Scalar Functions
2022-2023

where 𝑃: (𝑥, 𝑦, 𝑧) and 𝑃0 : (𝑥0 , 𝑦0 , 𝑧0 ).

Derivative of a Vector Function

A vector function 𝑣(𝑡) is said to be differentiable at a point 𝑡
if the following limit exists:
𝑣(𝑡 + ∆𝑡) − 𝑣(𝑡)
𝑣 ′ (𝑡) = lim
∆𝑡→0 ∆𝑡
In components with respect to a given Cartesian coordinate system,
𝑣 ′ (𝑡) = [𝑣1′ (𝑡), 𝑣2′ (𝑡), 𝑣3′ (𝑡)] (10.4)
Hence the derivative 𝑣 ′ (𝑡) is obtained by differentiating each component separately.

Example 10.1: If 𝑣(𝑡) = [𝑡, 𝑡 2 , 0] then 𝑣 ′ (𝑡) = [1,2𝑡, 0]

Properties:
• ⃑ )′ = 𝑐𝒗
(𝑐𝒗 ⃑′
• (𝒖
⃑ +𝒗 ⃑ )′ = 𝒖 ⃑ ′+𝒗⃑′
• (𝒖
⃑ ∙𝒗⃑ )′ = 𝒖 ⃑ ′∙𝒗⃑ +𝒖 ⃑ ∙𝒗⃑′
• (𝒖
⃑ ×𝒗 ⃑ )′ = 𝒖⃑ ′×𝒗 ⃑ +𝒖 ⃑ ×𝒗 ⃑′
• (𝒖
⃑ 𝒗
⃑ 𝒘⃑⃑⃑ )′ = (𝒖⃑ ′𝒗 ⃑⃑⃑ ) + (𝒖
⃑ 𝒘 ⃑′𝒘
⃑ 𝒗 ⃑⃑⃑ ) + (𝒖
⃑ 𝒗 ⃑⃑⃑ ′ )
⃑ 𝒘

Partial Derivatives of a Vector Function

Suppose that the components of a vector function:

⃑
⃑ = [𝑣1 , 𝑣2 , 𝑣3 ] = 𝑣1 𝑖 + 𝑣2 𝑗 + 𝑣3 𝑘
𝒗
are differentiable functions of 𝑛 variables 𝑡1 , 𝑡2 , … , 𝑡𝑛 . Then the partial derivative of 𝒗
⃑ with
⃑
𝑑𝒗
respect to 𝑡𝑚 is denoted by 𝑑𝑡 and is defined as the vector function:
𝑚

𝜕𝒗⃑ 𝜕𝑣1 𝜕𝑣2 𝜕𝑣3

= 𝑖+ 𝑗+ ⃑
𝑘 (10.5)
𝜕𝑡𝑚 𝜕𝑡𝑚 𝜕𝑡𝑚 𝜕𝑡𝑚
Similarly, second partial derivatives are:

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 Engineering Mathematics I Lecture 10: Vector and Prof. Dr. Emad Al-Hemiary
Second Year, First Semester Scalar Functions
2022-2023

𝜕 2𝒗⃑ 𝜕 2 𝑣1 𝜕 2 𝑣2 𝜕 2 𝑣3
= 𝑖+ 𝑗+ ⃑
𝑘 (10.6)
𝜕𝑡𝑙 𝜕𝑡𝑚 𝜕𝑡𝑙 𝜕𝑡𝑚 𝜕𝑡𝑙 𝜕𝑡𝑚 𝜕𝑡𝑙 𝜕𝑡𝑚
and so on.
⃑
𝜕𝒓 ⃑
𝜕𝒓 𝜕2𝒓
⃑
Example 10.2: Let 𝒓 ⃑ , find
⃑ (𝑡1 , 𝑡2 ) = 𝑎 cos 𝑡1 𝑖 + 𝑎 sin 𝑡1 𝑗 + 𝑡2 𝑘 , 𝜕𝑡 , and 𝜕𝑡
𝜕𝑡 1 2 1 𝜕𝑡2

Solution:
⃑
𝜕𝒓
⃑ = −𝑎 sin 𝑡1 𝑖 + 𝑎 cos 𝑡1 𝑗
= −𝑎 sin 𝑡1 𝑖 + 𝑎 cos 𝑡1 𝑗 + 0𝑘
𝜕𝑡1
⃑
𝜕𝒓
⃑ =𝑘
= 0𝑖 + 0𝑗 + 𝑘 ⃑
𝜕𝑡2
𝜕 2𝒓
⃑
=0
𝜕𝑡1 𝜕𝑡2

Curves
Bodies that move in space form paths that may be represented by
curves 𝐶. A typical parametric representation is given by:

𝒓 ⃑
⃑ (𝑡) = [𝑥(𝑡), 𝑦(𝑡), 𝑧(𝑡)] = 𝑥(𝑡)𝑖 + 𝑦(𝑡)𝑗 + 𝑧(𝑡)𝑘 (10.7)
Here 𝑡 is the parameter and 𝑥, 𝑦, 𝑧 are Cartesian coordinates.
As we increase 𝑡, we travel along the curve 𝐶 in a certain direction.
The sense of increasing 𝑡 is called the positive sense on 𝑪. The
sense of decreasing 𝑡 is then called the negative sense.

Example 10.3: Represent the circle given by 𝑥 2 + 𝑦 2 = 4, 𝑧 = 0 using

parametric representation.
Solution: 2 sin 𝑡

Since the equation of a circle is given by: 𝑥 2 + 𝑦 2 = 𝑟 2 , then 𝑟 = 2. 𝑡

Each point on the circle shown in the figure aside can be

2 cos 𝑡
represented by:
⃑ (𝑡) = [𝑥(𝑡), 𝑦(𝑡), 0] = [2 cos 𝑡 , 2 sin 𝑡 , 0] = [2 cos 𝑡 , 2 sin 𝑡]
𝒓
= 2 cos 𝑡 𝑖 + 2 sin 𝑡 𝑗 0 ≤ 𝑡 ≤ 2𝜋
The positive sense induced by this representation is the
counterclockwise sense.

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 Engineering Mathematics I Lecture 10: Vector and Prof. Dr. Emad Al-Hemiary
Second Year, First Semester Scalar Functions
2022-2023

𝑥2 𝑦2
Example 10.4: Represent the circle given by 𝑎2 + 𝑏2 = 1, 𝑧 = 0 using parametric representation.

Solution:
Assume that:
𝑥(𝑡) = 𝑎 cos 𝑡 𝑥 2 𝑦 2 𝑎2 cos2 𝑡 𝑏 2 sin2 𝑡
}→ 2+ 2= + = cos2 𝑡 + sin2 𝑡
𝑦(𝑡) = 𝑏 sin 𝑡 𝑎 𝑏 𝑎2 𝑏2
=1
Therefore, the parametric representation is:
⃑ (𝑡) = [𝑥(𝑡), 𝑦(𝑡), 0] = [𝑎 cos 𝑡 , 𝑏 sin 𝑡 , 0] = [𝑎 cos 𝑡 , 𝑏 sin 𝑡]
𝒓
= 𝑎 cos 𝑡 𝑖 + 𝑏 sin 𝑡 𝑗 0 ≤ 𝑡 ≤ 2𝜋

Example 10.5: A straight line 𝐿 through a point 𝐴 with position

vector 𝑎 in the direction of a constant vector 𝑏⃑ can be represented
parametrically in the form:

⃑ (𝑡) = 𝑎 + 𝑡𝑏⃑ = [𝑎1 + 𝑡𝑏1 , 𝑎2 + 𝑡𝑏2 , 𝑎3 + 𝑡𝑏3 ]

𝒓

• A plane curve is a curve that lies in a plane in space.

• A curve that is not plane is called a twisted curve.
Example 10.6: Twisted curve – circular helix
The twisted curve 𝐶 represented by the vector function:

𝒓 ⃑
⃑ (𝑡) = [𝑎 cos 𝑡 , 𝑏 sin 𝑡 , 𝑐𝑡] = 𝑎 cos 𝑡 𝑖 + 𝑏 sin 𝑡 𝑗 + 𝑐𝑡𝑘 𝑐≠0

𝑐>0 𝑐<0
Left-handed circular helix
Right-handed circular helix

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 Engineering Mathematics I Lecture 10: Vector and Prof. Dr. Emad Al-Hemiary
Second Year, First Semester Scalar Functions
2022-2023

Tangent to a Curve
Approximation of a curve by straight lines, leads to tangents and to a definition of length.
• Tangents are straight lines touching a curve
• The tangent to a simple curve 𝐶 at a point 𝑃 of 𝐶 is the
limiting position of a straight line 𝐿 through 𝑃 and a
point 𝑄 of 𝐶 as 𝑄 approaches 𝑃 along 𝐶.
If 𝐶 is given by 𝑟(𝑡), and 𝑃 and 𝑄 correspond to 𝑡 and 𝑡 + ∆𝑡
then a vector in the direction of 𝐿 is
1
[𝑟(𝑡 + ∆𝑡) − 𝑟(𝑡)] (10.8)
∆𝑡
In the limit this vector becomes the derivative:
1
𝑟 ′ (𝑡) = lim [𝑟(𝑡 + ∆𝑡) − 𝑟(𝑡)] (10.9)
∆𝑡→0 ∆𝑡

𝑟 ′ (𝑡) is called a tangent vector of 𝐶 at 𝑃. The unit tangent

vector is given by:
𝑟′
𝑢
⃑ = ′ (10.10)
|𝑟 |
Then, the tangent to 𝐶 at 𝑃 is given by:
𝑞(𝑤) = 𝑟 + 𝑤𝑟 ′ (10.11)
This is the sum of the position vector 𝑟 of 𝑃 and a multiple of the tangent vector of 𝐶 at 𝑃.
Both vectors depend on 𝑃. The variable 𝑤 is the parameter in (10.11).
1 1
Example 10.7: Find the tangent to the ellipse 4 𝑥 2 + 𝑦 2 = 1 𝑎𝑡 𝑃: (√2, )
√2

Solution: The ellipse equation (See Example 10.4) is given by:

𝑥2 𝑦2
+ = 1 → 𝑎 = 2, 𝑏 = 1 𝑔𝑖𝑣𝑒𝑠: 𝑟 = [2 cos 𝜃 , sin 𝜃] → 𝑟 ′ = [−2 sin 𝜃 , cos 𝜃]
𝑎2 𝑏 2
1
At point 𝑃: (√2, )
√2

1
√2 = 2 cos 𝜃 = cos 𝜃
√2 𝜋 𝜋 𝜋 𝜋 1
{ 1 → → 𝜃 = → 𝑟 ′ ( ) = [−2 sin , cos ] = (−√2, )
= sin 𝜃 1 4 4 4 4 √2
√2 = sin 𝜃
{ √2
From (10.11):

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 Engineering Mathematics I Lecture 10: Vector and Prof. Dr. Emad Al-Hemiary
Second Year, First Semester Scalar Functions
2022-2023

1 1 1
𝑞(𝑤) = 𝑟 + 𝑤𝑟 ′ → 𝑞(𝑤) = (√2, ) + 𝑤 (−√2, ) = √2(1 − 𝑤), (1 + 𝑤)
√2 √2 √2

Length of a Curve 𝑏

𝑎
The length of a curve 𝑙 is the limit of the lengths of broken lines
of 𝑛 chords (Example: 𝑛 = 5 in the figure) with larger and larger
𝑛.
The lengths 𝑙1 , 𝑙2 , … of these chords can be obtained from the Pythagorean theorem. If 𝑟(𝑡) has
a continuous derivative 𝑟 ′ (𝑡) it can be shown that the sequence has a limit, which is independent
of the particular choice of the representation of 𝐶 and of the choice of subdivisions. This limit is
given by the integral:
𝑏
𝑑𝑟
𝑙 = ∫ √𝑟 ′ ∙ 𝑟 ′ 𝑑𝑡 𝑤ℎ𝑒𝑟𝑒, (𝑟 ′ = ) (10.12)
𝑑𝑡
𝑎

𝑙 is called the length of 𝐶, and 𝐶 is called rectifiable.

Arc Length 𝒔 of a Curve

The arc length function or simply the arc length of 𝐶 is derived from (10.12) by replacing 𝑏 with
𝑡. It is given by:
𝑡
𝑑𝑟
𝑠(𝑡) = ∫ √𝑟 ′ ∙ 𝑟 ′ 𝑑𝑡̃ 𝑤ℎ𝑒𝑟𝑒, (𝑟 ′ = ) (10.13)
𝑑𝑡̃
𝑎

Differentiating (10.13) for 𝑡:

𝑑𝑠 2 𝑑𝑟 𝑑𝑟 ′ 2
𝑑𝑥 2 𝑑𝑦 2 𝑑𝑧 2
( ) = ∙ = |𝑟 (𝑡)| = ( ) + ( ) + ( ) (10.14)
𝑑𝑡 𝑑𝑡 𝑑𝑡 𝑑𝑡 𝑑𝑡 𝑑𝑡
We can also write (10.14) in the form:
𝑑𝑠 2 = 𝑑𝑟 ∙ 𝑑𝑟 = 𝑑𝑥 2 + 𝑑𝑦 2 + 𝑑𝑧 2 (10.15)
Where:
⃑
𝑑𝑟 = [𝑑𝑥, 𝑑𝑦, 𝑑𝑧] = 𝑑𝑥𝑖 + 𝑑𝑦𝑗 + 𝑑𝑧𝑘 (10.16)

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 Engineering Mathematics I Lecture 10: Vector and Prof. Dr. Emad Al-Hemiary
Second Year, First Semester Scalar Functions
2022-2023

𝑑𝑠 is called the linear element of 𝐶.

1
Example 10.8: Given a curve 𝐶, 𝑟(𝑡) = [𝑡, 2 𝑡 2 , 1]. Find the tangent 𝑟 ′ (𝑡), a unit vector tangent
vector 𝑢
⃑ ′ (𝑡) and the tangent of 𝐶 at 𝑃: (2,2,1).
Solution:
𝑟 ′ (𝑡) = [1, 𝑡, 0] (2,2,1)

𝑟′ [1, 𝑡, 0] 1 𝑡
𝑢
⃑ = ′
= =[ , , 0]
|𝑟 | √1 + 𝑡 2 √1 + 𝑡 2 √1 + 𝑡 2 𝑡 𝑟
0 (0,0,1)
𝑟 ′ (2) = [1,2,0] 1
-1
(1,1/2,1)
(-1,1/2,1)
2 (2,2,1)
The tangent equation is therefore: -2 (-2,2,1)
3 (3,9/2,1)
𝑞(𝑤) = 𝑟 + 𝑤𝑟 ′ → 𝑞(𝑤) = (2,2,1) + 𝑤(1,2,0) -3 (-3,9/2,1)
= [(2 + 𝑤), 2(1 + 𝑤), 1]
Example 10.9: Given a curve 𝐶, 𝑟(𝑡) = [10 cos 𝑡, 1,10 sin 𝑡]. Find the tangent 𝑟 ′ (𝑡), a unit vector
tangent vector 𝑢
⃑ ′ (𝑡) and the tangent of 𝐶 at 𝑃: (6,1,8).
Solution:
𝑟 ′ (𝑡) = [−10 sin 𝑡, 0,10 cos 𝑡]
𝑟′ [−10 sin 𝑡, 0,10 cos 𝑡] [−10 sin 𝑡, 0,10 cos 𝑡]
𝑢
⃑ = ′ = = = [− sin 𝑡, 0, cos 𝑡]
|𝑟 | √(−10 sin 𝑡)2 + (0)2 + (10 cos 𝑡)2 10

𝑟 ′ (2) = [10 cos 𝑡, 1,10 sin 𝑡] at P: [6,1,8]

6 = 10 cos 𝑡 0.6 = cos 𝑡
{ →{ → 𝑡 ≈ 0.927 𝑟𝑎𝑑 → 𝑟 ′ (0.927) = [−10(0.8), 0,10(0.6)] = [−8,0,6]
8 = 10 sin 𝑡 0.8 = sin 𝑡
The tangent equation is therefore:
𝑞(𝑤) = 𝑟 + 𝑤𝑟 ′ → 𝑞(𝑤) = [6,1,8] + 𝑤[−8,0,6] = [6 − 8𝑤, 1,8 + 6𝑤]

Example 10.10: Find the length and sketch the curve of the catenary 𝑟(𝑡) = [𝑡, cosh 𝑡] from 𝑡 =
0 to 𝑡 = 1.
Solution: From 10.12, we have:
𝑒 𝑥 − 𝑒 −𝑥 𝑒 𝑥 + 𝑒 −𝑥
sinh 𝑥 = cosh 𝑥 =
𝑑𝑟 𝑑 𝑑 2 2 1
𝑟′ = = [ 𝑡, cosh 𝑡] = [1, sinh 𝑡]
𝑑𝑡 𝑑𝑡 𝑑𝑡
1

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Engineering Mathematics I Lecture 10: Vector and Prof. Dr. Emad Al-Hemiary
Second Year, First Semester Scalar Functions
2022-2023
𝑏 1 1 1

𝑙 = ∫ √𝑟 ′ ∙ 𝑟 ′ 𝑑𝑡 = ∫ √[1, sinh 𝑡] ∙ [1, sinh 𝑡] 𝑑𝑡 = ∫ √1 + sinh2 𝑡 𝑑𝑡 = ∫ cosh 𝑡 𝑑𝑡

𝑎 0 0 0
= sinh 𝑡|10 = sinh 1 − sinh 0 = sinh 1 = 1.175