Chapter 13 CSM
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13 VECTOR FUNCTIONS
13.1 Vector Functions and Space Curves
1. The component functions ln( + 1), √ , and 2 are all defined when + 1 0 ⇒ −1 and 9 − 2 0 ⇒
9 − 2
−3 3, so the domain of r is (−1 3).
1
2. The component functions cos , ln , and are all defined when 0 and 6= 2, so the domain of r is (0 2) ∪ (2 ∞).
−2
2 1 1 1 1
3. lim −3 = 0 = 1, lim 2 = lim 2 = 2 = 2 = 2 = 1,
→0 →0 sin →0 sin sin sin 1
lim 2 lim
2 →0 →0
and lim cos 2 = cos 0 = 1. Thus
→0
2 2
lim −3 i + 2 j + cos 2 k = lim −3
i + lim 2 j + lim cos 2 k = i + j + k.
→0 sin →0 →0 sin →0
2 − ( − 1) √ sin cos
4. lim = lim = lim = 1, lim + 8 = 3, lim = lim = − [by l’Hospital’s Rule].
→1 −1 →1 − 1 →1 →1 →1 ln →1 1
Thus the given limit equals i + 3 j − k.
1 + 2 (12 ) + 1 0+1 1 − −2 1 1
5. lim = lim = = −1, lim tan−1 = 2 , →∞
lim = lim − 2 = 0 − 0 = 0. Thus
→∞ 1 − 2 →∞ (12 ) − 1 0−1 →∞ →∞
1 + 2 1 − −2
lim 2
tan−1 = −1 2 0 .
→∞ 1−
1 3 + 1 + (12 ) 1+0 1
6. lim − = lim
= lim = 0 [by l’Hospital’s Rule], lim 3
= lim = = ,
→∞ →∞ →∞ →∞ 2 − 1 →∞ 2 − (13 ) 2−0 2
1 sin(1) cos(1)(−12 ) 1
and lim sin= lim = lim = lim cos = cos 0 = 1 [again by l’Hospital’s Rule].
→∞ →∞ 1 →∞ −12 →∞
3 + 1
Thus lim − 3 sin = 0 12 1 .
→∞ 2 − 1
7. The corresponding parametric equations for this curve are = sin , = .
We can make a table of values, or we can eliminate the parameter: = ⇒
= sin , with ∈ R. By comparing different values of , we find the direction in
which increases as indicated in the graph.
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314 ¤ CHAPTER 13 VECTOR FUNCTIONS
8. The corresponding parametric equations for this curve are = 2 − 1, = . We
can make a table of values, or we can eliminate the parameter:
= ⇒ = 2 − 1, with ∈ R. Thus the curve is a parabola with vertex
(−1 0) that opens to the right. By comparing different values of , we find the
direction in which increases as indicated in the graph.
9. The corresponding parametric equations are = , = 2 − , = 2, which are
parametric equations of a line through the point (0 2 0) and with direction vector
h1 −1 2i.
10. The corresponding parametric equations are = sin , = , = cos .
Note that 2 + 2 = sin2 + cos2 = 1, so the curve lies on the circular
cylinder 2 + 2 = 1. A point ( ) on the curve lies directly to the left or
right of the point ( 0 ) which moves clockwise (when viewed from the left)
along the circle 2 + 2 = 1 in the -plane as increases. Since = , the
curve is a helix that spirals toward the right around the cylinder.
11. The corresponding parametric equations are = 3, = , = 2 − 2 .
Eliminating the parameter in and gives = 2 − 2 . Because = 3, the
curve is a parabola in the vertical plane = 3 with vertex (3 0 2).
12. The corresponding parametric equations are = 2 cos , = 2 sin ,
= 1. Eliminating the parameter in and gives
2 + 2 = 4 cos2 + 4 sin2 = 4(cos2 + sin2 ) = 4. Since = 1, the
curve is a circle of radius 2 centered at (0 0 1) in the horizontal plane
= 1.
13. The parametric equations are = 2 , = 4 , = 6 . These are positive
for 6= 0 and 0 when = 0. So the curve lies entirely in the first octant.
The projection of the graph onto the -plane is = 2 , 0, a half parabola.
The projection onto the -plane is = 3 , 0, a half cubic, and the projection
onto the -plane is 3 = 2 .
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SECTION 13.1 VECTOR FUNCTIONS AND SPACE CURVES ¤ 315
14. If = cos , = − cos , = sin , then 2 + 2 = 1 and 2 + 2 = 1,
so the curve is contained in the intersection of circular cylinders along the
- and -axes. Furthermore, = −, so the curve is an ellipse in the
plane = −, centered at the origin.
15. The projection of the curve onto the -plane is given by r() = h sin 0i [we use 0 for the -component] whose graph
is the curve = sin , = 0. Similarly, the projection onto the -plane is r() = h 0 2 cos i, whose graph is the cosine
wave = 2 cos , = 0, and the projection onto the -plane is r() = h0 sin 2 cos i whose graph is the ellipse
2 + 14 2 = 1, = 0.
-plane -plane -plane
From the projection onto the -plane we see that the curve lies on an elliptical
cylinder with axis the -axis. The other two projections show that the curve
oscillates both vertically and horizontally as we move in the -direction,
suggesting that the curve is an elliptical helix that spirals along the cylinder.
16. The projection of the curve onto the -plane is given by r() = h 0i whose graph is the line = , = 0.
The projection onto the -plane is r() = 0 2 whose graph is the parabola = 2 , = 0.
The projection onto the -plane is r() = 0 2 whose graph is the parabola = 2 , = 0.
-plane -plane -plane [continued]
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316 ¤ CHAPTER 13 VECTOR FUNCTIONS
From the projection onto the -plane we see that the curve lies on the vertical
plane = . The other two projections show that the curve is a parabola contained
in this plane.
17. Taking r0 = h2 0 0i and r1 = h6 2 −2i, we have from Equation 12.5.4
r() = (1 − ) r0 + r1 = (1 − ) h2 0 0i + h6 2 −2i, 0 ≤ ≤ 1 or r() = h2 + 4 2 −2i, 0 ≤ ≤ 1.
Parametric equations are = 2 + 4, = 2, = −2, 0 ≤ ≤ 1.
18. Taking r0 = h−1 2 −2i and r1 = h−3 5 1i, we have from Equation 12.5.4
r() = (1 − ) r0 + r1 = (1 − ) h−1 2 −2i + h−3 5 1i, 0 ≤ ≤ 1 or r() = h−1 − 2 2 + 3 −2 + 3i, 0 ≤ ≤ 1.
Parametric equations are = −1 − 2, = 2 + 3, = −2 + 3, 0 ≤ ≤ 1.
1
19. Taking r0 = h0 −1 1i and r1 = , we have
1 1
2 3 4
r() = (1 − ) r0 + r1 = (1 − ) h0 −1 1i + 12 13 14 , 0 ≤ ≤ 1 or r() = 12 −1 + 43 1 − 34 , 0 ≤ ≤ 1.
Parametric equations are = 12 , = −1 + 43 , = 1 − 34 , 0 ≤ ≤ 1.
20. Taking r0 = h i and r1 = h i, we have
r() = (1 − ) r0 + r1 = (1 − ) h i + h i, 0 ≤ ≤ 1 or r() = h + ( − ) + ( − ) + ( − )i,
0 ≤ ≤ 1. Parametric equations are = + ( − ), = + ( − ), = + ( − ), 0 ≤ ≤ 1.
21. = cos , = , = sin , ≥ 0. At any point ( ) on the curve, 2 + 2 = 2 cos2 + 2 sin2 = 2 = 2 so the
curve lies on the circular cone 2 + 2 = 2 with axis the -axis. Also notice that ≥ 0; the graph is II.
22. = cos , = sin , = 1(1 + 2 ). At any point on the curve we have 2 + 2 = cos2 + sin2 = 1, so the curve lies
on the circular cylinder 2 + 2 = 1 with axis the -axis. Notice that 0 ≤ 1 and = 1 only for = 0. A point ( )
on the curve lies directly above the point ( 0), which moves counterclockwise around the unit circle in the -plane as
increases, and → 0 as → ±∞. The graph must be VI.
23. = , = 1(1 + 2 ), = 2 . At any point on the curve we have = 2 , so the curve lies on a parabolic cylinder parallel
to the -axis. Notice that 0 ≤ 1 and ≥ 0. Also the curve passes through (0 1 0) when = 0 and → 0, → ∞ as
→ ±∞, so the graph must be V.
24. = cos , = sin , = cos 2. 2 + 2 = cos2 + sin2 = 1, so the curve lies on a circular cylinder with axis the
-axis. A point ( ) on the curve lies directly above or below ( 0), which moves around the unit circle in the -plane
with period 2. At the same time, the -value of the point ( ) oscillates with a period of . So the curve repeats itself and
the graph is I.
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SECTION 13.1 VECTOR FUNCTIONS AND SPACE CURVES ¤ 317
25. = cos 8, = sin 8, = 08 , ≥ 0. 2 + 2 = cos2 8 + sin2 8 = 1, so the curve lies on a circular cylinder with
axis the -axis. A point ( ) on the curve lies directly above the point ( 0), which moves counterclockwise around the
unit circle in the -plane as increases. The curve starts at (1 0 1), when = 0, and → ∞ (at an increasing rate) as
→ ∞, so the graph is IV.
26. = cos2 , = sin2 , = . + = cos2 + sin2 = 1, so the curve lies in the vertical plane + = 1.
and are periodic, both with period , and increases as increases, so the graph is III.
27. If = cos , = sin , = , then 2 + 2 = 2 cos2 + 2 sin2 = 2 = 2 ,
so the curve lies on the cone 2 = 2 + 2 . Since = , the curve is a spiral on
this cone.
28. Here 2 = sin2 = and 2 + 2 = sin2 + cos2 = 1, so the
curve is contained in the intersection of the parabolic cylinder
= 2 with the circular cylinder 2 + 2 = 1. We get the complete
intersection for 0 ≤ ≤ 2.
29. Here = 2, = , = 2 . Then = 2 = = 2 , so the curve lies on the cylinder = 2 . Also
⇒
2
= 2 = , so the curve lies on the cylinder = . Since = 2 = = 2 , the curve also lies on the parabolic
cylinder = 2 .
√ √
30. Here = 2 , = ln , = 1. The domain of r is (0 ∞), so = 2 ⇒ = ⇒ = ln . Thus one surface
√ √
containing the curve is the cylinder = ln or = ln 12 = 12 ln . Also = 1 = 1 , so the curve also lies on the
√
cylinder = 1 or = 1 2 , 0. Finally = 1 ⇒ = 1 ⇒ = ln (1), so the curve also lies on the
cylinder = ln(1) or = ln −1 = − ln . Note that the surface = ln() also contains the curve, since
ln() = ln(2 · 1) = ln = .
31. Parametric equations for the curve are = , = 0, = 2 − 2 . Substituting into the equation of the paraboloid
gives 2 − 2 = 2 ⇒ 2 = 22 ⇒ = 0, 1. Since r(0) = 0 and r(1) = i + k, the points of intersection
are (0 0 0) and (1 0 1).
32. Parametric equations for the helix are = sin , = cos , = . Substituting into the equation of the sphere gives
sin2 + cos2 + 2 = 5 ⇒ 1 + 2 = 5 ⇒ = ±2. Since r(2) = hsin 2 cos 2 2i and
r(−2) = hsin(−2) cos(−2) −2i, the points of intersection are (sin 2 cos 2 2) ≈ (0909 −0416 2) and
(sin(−2) cos(−2) −2) ≈ (−0909 −0416 −2).
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318 ¤ CHAPTER 13 VECTOR FUNCTIONS
33. r() = hcos sin 2 sin sin 2 cos 2i.
We include both a regular plot and a plot
showing a tube of radius 0.08 around the
curve.
34. r() = − 35. r() = sin 3 cos 14 sin 3 sin
36. r() = hcos(8 cos ) sin sin(8 cos ) sin cos i 37. r() = hcos 2 cos 3 cos 4i
38. = sin , = sin 2, = cos 4.
We graph the projections onto the coordinate planes.
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-plane -plane -plane
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SECTION 13.1 VECTOR FUNCTIONS AND SPACE CURVES ¤ 319
From the projection onto the -plane we see that from above the curve appears to be shaped like a “figure eight.”
The curve can be visualized as this shape wrapped around an almost parabolic cylindrical surface, the profile of
which is visible in the projection onto the -plane.
39. = (1 + cos 16) cos , = (1 + cos 16) sin , = 1 + cos 16. At any
point on the graph,
2 + 2 = (1 + cos 16)2 cos2 + (1 + cos 16)2 sin2
= (1 + cos 16)2 = 2 , so the graph lies on the cone 2 + 2 = 2 .
From the graph at left, we see that this curve looks like the projection of a
leaved two-dimensional curve onto a cone.
√ √
40. = 1 − 025 cos2 10 cos , = 1 − 025 cos2 10 sin ,
= 05 cos 10. At any point on the graph,
2 + 2 + 2 = (1 − 025 cos2 10) cos2
+(1 − 025 cos2 10) sin2 + 025 cos2
= 1 − 025 cos2 10 + 025 cos2 10 = 1,
so the graph lies on the sphere 2 + 2 + 2 = 1, and since = 05 cos 10
the graph resembles a trigonometric curve with ten peaks projected onto the
sphere. We get the complete graph for 0 ≤ ≤ 2.
41. If = −1, then = 1, = 4, = 0, so the curve passes through the point (1 4 0). If = 3, then = 9, = −8, = 28,
so the curve passes through the point (9 −8 28). For the point (4 7 −6) to be on the curve, we require = 1 − 3 = 7 ⇒
= −2 But then = 1 + (−2)3 = −7 6= −6, so (4 7 −6) is not on the curve.
42. The projection of the curve of intersection onto the -plane is the circle 2 + 2 = 4, = 0.
Then we can write = 2 cos , = 2 sin , 0 ≤ ≤ 2. Since also lies on the surface = , we have
= = (2 cos )(2 sin ) = 4 cos sin , or 2 sin(2). Then parametric equations for are = 2 cos , = 2 sin ,
= 2 sin(2), 0 ≤ ≤ 2, and the corresponding vector function is r() = 2 cos i + 2 sin j + 2 sin(2) k, 0 ≤ ≤ 2.
43. Both equations are solved for , so we can substitute to eliminate : 2 + 2 = 1 + ⇒ 2 + 2 = 1 + 2 + 2 ⇒
2
= 1 + 2 ⇒ = 1
2
(2 − 1). We can form parametric equations for the curve of intersection by choosing a
parameter = , then = 12 (2 − 1) and = 1 + = 1 + 12 (2 − 1) = 12 (2 + 1). Thus a vector function representing
is r() = i + 12 (2 − 1) j + 12 (2 + 1) k.
44. The projection of the curve of intersection onto the -plane is the parabola = 2 , = 0. Then we can choose the
parameter = ⇒ = 2 . Since also lies on the surface = 42 + 2 , we have = 42 + 2 = 42 + (2 )2 .
Then parametric equations for are = , = 2 , = 42 + 4 , and the corresponding vector function
is r() = i + 2 j + (42 + 4 ) k.
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320 ¤ CHAPTER 13 VECTOR FUNCTIONS
45. The projection of the curve of intersection onto the -plane is the circle 2 + 2 = 1, = 0, so we can write = cos ,
= sin , 0 ≤ ≤ 2. Since also lies on the surface = 2 − 2 , we have = 2 − 2 = cos2 − sin2 or cos 2.
Thus parametric equations for are = cos , = sin , = cos 2, 0 ≤ ≤ 2, and the corresponding vector function
is r() = cos i + sin j + cos 2 k, 0 ≤ ≤ 2.
46. The projection of the curve of intersection onto the -plane is the circle 2 + 2 = 1, = 0, so we can write = cos ,
= sin , 0 ≤ ≤ 2. also lies on the surface 2 + 2 + 4 2 = 4, and since ≥ 0 we can write
√ √ √
= 4 − 2 − 4 2 = 4 − cos2 − 4 sin2 = 4 − cos2 − 4(1 − cos2 ) = 3 cos2 = 3 | cos |
√
Thus parametric equations for are = cos , = 3 | cos |, = sin , 0 ≤ ≤ 2, and the corresponding vector function
√
is r() = cos i + 3 | cos | j + sin k, 0 ≤ ≤ 2.
47. The projection of the curve of intersection onto the
-plane is the circle 2 + 2 = 4 = 0. Then we can write
= 2 cos , = 2 sin , 0 ≤ ≤ 2. Since also lies on
the surface = 2 , we have = 2 = (2 cos )2 = 4 cos2 .
Then parametric equations for are = 2 cos , = 2 sin ,
= 4 cos2 , 0 ≤ ≤ 2.
48.
2
= ⇒ = 2 ⇒ 4 2 = 16 − 2 − 4 2 = 16 − 2 − 44 ⇒ = 4 − 12 − 4 .
Note that is positive because the intersection is with the top half of the ellipsoid. Hence the curve is given
by = , = 2 , = 4 − 14 2 − 4 .
2
49. For the particles to collide, we require r1 () = r2 () ⇔ 7 − 12 2 = 4 − 3 2 5 − 6 . Equating components
gives 2 = 4 − 3, 7 − 12 = 2 , and 2 = 5 − 6. From the first equation, 2 − 4 + 3 = 0 ⇔ ( − 3)( − 1) = 0 so = 1
or = 3. = 1 does not satisfy the other two equations, but = 3 does. The particles collide when = 3, at the
point (9 9 9).
2 3
50. The particles collide provided r1 () = r2 () ⇔ = h1 + 2 1 + 6 1 + 14i. Equating components gives
= 1 + 2, 2 = 1 + 6, and 3 = 1 + 14. The first equation gives = −1, but this does not satisfy the other equations, so
the particles do not collide. For the paths to intersect, we need to find a value for and a value for where r1 () = r2 () ⇔
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SECTION 13.1 VECTOR FUNCTIONS AND SPACE CURVES ¤ 321
2 3
= h1 + 2 1 + 6 1 + 14i. Equating components, = 1 + 2, 2 = 1 + 6, and 3 = 1 + 14. Substituting the
first equation into the second gives (1 + 2)2 = 1 + 6 ⇒ 42 − 2 = 0 ⇒ 2(2 − 1) = 0 ⇒ = 0 or = 12 .
From the first equation, = 0 ⇒ = 1 and = 1
2
⇒ = 2. Checking, we see that both pairs of values satisfy the
third equation. Thus the paths intersect twice, at the point (1 1 1) when = 0 and = 1, and at (2 4 8) when = 1
2
and = 2.
51. (a) We plot the parametric equations for 0 ≤ ≤ 2 in the first figure. We get a better idea of the shape of the curve if we plot
it simultaneously with the hyperboloid of one sheet from part (b), as shown in the second figure.
(b) Here = 27
26
sin 8 − 8
39
sin 18, = − 27
26
cos 8 + 8
39
cos 18, = 144
65
sin 5.
For any point on the curve,
27 2 2
2 + 2 = 26 sin 8 − 8
39 sin 18 + − 27
26 cos 8 +
8
39 cos 18
272
= 262
sin2 8 − 2 · 27·8
26·39
sin 8 sin 18 + 64
392
sin2 18
2
+ 27
262
cos2 8 − 2 · 26·39
27·8 64
cos 8 cos 18 + 39 2
2 cos 18
2 2
= 27
262
sin2 8 + cos2 8 + 39 64 2 72
2 sin 18 + cos 18 − 169 (sin 8 sin 18 + cos 8 cos 18)
272 64 72 272 64 72
= 262
+ 392
− 169
cos (18 − 8) = 262
+ 392
− 169
cos 10
using the trigonometric identities sin2 + cos2 = 1 and cos ( − ) = cos cos + sin sin . Also
1442 1 − cos 2 1442 1442 1442
2 = 652
sin2 5, and the identity sin2 = gives 2 = 652
· 1
2
[1 − cos(2 · 5)] = 2·652
− 2·652
cos 10.
2
Then
2
272 1442
144(2 + 2 ) − 25 2 = 144 262
+ 64
392
− 72
169
144
cos 10 − 25 2·652 − 2·652
cos 10
272 64 25·144 72 25·144
= 144 262
+ 392
− 2·652
− 169 cos 10 + 2·652
cos 10
272 64 72 72 72
= 144 262
+ 392
− 169
− 169
cos 10 + 169
cos 10 = 144 25
36
= 100
Thus the curve lies on the surface 144(2 + 2 ) − 25 2 = 100 or 1442 + 144 2 − 25 2 = 100, a hyperboloid of one
sheet with axis the -axis.
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322 ¤ CHAPTER 13 VECTOR FUNCTIONS
52. The projection of the curve onto the -plane is given by the parametric equations = (2 + cos 15) cos ,
= (2 + cos 15) sin . If we convert to polar coordinates, we have
2 = 2 + 2 = [(2 + cos 15) cos ]2 + [(2 + cos 15) sin ]2 = (2 + cos 15)2 (cos2 + sin2 ) = (2 + cos 15)2 ⇒
(2 + cos 15) sin
= 2 + cos 15. Also, tan = = = tan ⇒ = .
(2 + cos 15) cos
Thus the polar equation of the curve is = 2 + cos 15. At = 0, we have
= 3, and decreases to 1 as increases to 3 .
2
For 2
3 ≤≤ 3 ,
4
increases to 3; decreases to 1 again at = 2, increases to 3 at = 8
3
,
decreases to 1 at = 10
3
, and completes the closed curve by increasing
to 3 at = 4. We sketch an approximate graph as shown in the figure.
We can determine how the curve passes over itself by investigating the maximum and minimum values of for 0 ≤ ≤ 4.
Since = sin 15, is maximized where sin 15 = 1 ⇒ 15 = 2
, 2,
5
or 9
2
⇒
= , 3,
5
3
or 3. is minimized where sin 15 = −1 ⇒
15 = 2
, 2,
3 7
or 11
2
⇒ = , 7
3
, or 11
3
. Note that these are
precisely the values for which cos 15 = 0 ⇒ = 2, and on the graph
of the projection, these six points appear to be at the three self-intersections
we see. Comparing the maximum and minimum values of at these
intersections, we can determine where the curve passes over itself, as
indicated in the figure.
We show a computer-drawn graph of the curve from above, as well as views from the front and from the right side.
Top view Front view Side view
The top view graph shows a more accurate representation of the projection of the trefoil knot onto the -plane (the axes are
rotated 90◦ ). Notice the indentations the graph exhibits at the points corresponding to = 1. Finally, we graph several
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SECTION 13.1 VECTOR FUNCTIONS AND SPACE CURVES ¤ 323
additional viewpoints of the trefoil knot, along with two plots showing a tube of radius 02 around the curve.
53. Let u() = h1 () 2 () 3 ()i and v() = h1 () 2 () 3 ()i. In each part of this problem the basic procedure is to use
Equation 1 and then analyze the individual component functions using the limit properties we have already developed for
real-valued functions.
(a) lim u() + lim v() = lim 1 () lim 2 () lim 3 () + lim 1 () lim 2 () lim 3 () and the limits of these
→ → → → → → → →
component functions must each exist since the vector functions both possess limits as → . Then adding the two vectors
and using the addition property of limits for real-valued functions, we have that
lim u() + lim v() = lim 1 () + lim 1 () lim 2 () + lim 2 () lim 3 () + lim 3 ()
→ → → → → → → →
= lim [1 () + 1 ()] lim [2 () + 2 ()] lim [3 () + 3 ()]
→ → →
= lim h1 () + 1 () 2 () + 2 () 3 () + 3 ()i [using (1) backward]
→
= lim [u() + v()]
→
(b) lim u() = lim h1 () 2 () 3 ()i = lim 1 () lim 2 () lim 3 ()
→ → → → →
= lim 1 () lim 2 () lim 3 () = lim 1 () lim 2 () lim 3 ()
→ → → → → →
= lim h1 () 2 () 3 ()i = lim u()
→ →
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324 ¤ CHAPTER 13 VECTOR FUNCTIONS
(c) lim u() · lim v() = lim 1 () lim 2 () lim 3 () · lim 1 () lim 2 () lim 3 ()
→ → → → → → → →
= lim 1 () lim 1 () + lim 2 () lim 2 () + lim 3 () lim 3 ()
→ → → → → →
= lim 1 ()1 () + lim 2 ()2 () + lim 3 ()3 ()
→ → →
= lim [1 ()1 () + 2 ()2 () + 3 ()3 ()] = lim [u() · v()]
→ →
(d) lim u() × lim v() = lim 1 () lim 2 () lim 3 () × lim 1 () lim 2 () lim 3 ()
→ → → → → → → →
= lim 2 () lim 3 () − lim 3 () lim 2 ()
→ → → →
lim 3 () lim 1 () − lim 1 () lim 3 ()
→ → → →
lim 1 () lim 2 () − lim 2 () lim 1 ()
→ → → →
= lim [2 ()3 () − 3 ()2 ()] lim [3 ()1 () − 1 ()3 ()]
→ →
lim [1 ()2 () − 2 ()1 ()]
→
= lim h2 ()3 () − 3 ()2 () 3 () 1 () − 1 ()3 () 1 ()2 () − 2 ()1 ()i
→
= lim [u() × v()]
→
54. Let r() = h () () ()i and b = h1 2 3 i. If lim r() = b, then lim r() exists, so by (1),
→ →
b = lim r() = lim () lim () lim () . By the definition of equal vectors we have lim () = 1 , lim () = 2
→ → → → → →
and lim () = 3 . But these are limits of real-valued functions, so by the definition of limits, for every 0 there exists
→
1 0, 2 0, 3 0 so that if 0 | − | 1 then | () − 1 | 3, if 0 | − | 2 then |() − 2 | 3, and
if 0 | − | 3 then |() − 3 | 3. Letting = minimum of { 1 2 3 }, then if 0 | − | we have
| () − 1 | + |() − 2 | + |() − 3 | 3 + 3 + 3 = . But
|r() − b| = |h () − 1 () − 2 () − 3 i| = ( () − 1 )2 + (() − 2 )2 + (() − 3 )2
≤ [ () − 1 ]2 + [() − 2 ]2 + [() − 3 ]2 = | () − 1 | + |() − 2 | + |() − 3 |
Thus for every 0 there exists 0 such that if 0 | − | then
|r() − b| ≤ | () − 1 | + |() − 2 | + |() − 3 | . Conversely, suppose for every 0, there exists 0 such
that if 0 | − | then |r() − b| ⇔ |h() − 1 () − 2 () − 3 i| ⇔
[ () − 1 ]2 + [() − 2 ]2 + [() − 3 ]2 ⇔ [ () − 1 ]2 + [() − 2 ]2 + [() − 3 ]2 2 . But each term
on the left side of the last inequality is positive, so if 0 | − | , then [ () − 1 ]2 2 , [() − 2 ]2 2 and
[() − 3 ]2 2 or, taking the square root of both sides in each of the above, | () − 1 | , |() − 2 | and
|() − 3 | . And by definition of limits of real-valued functions we have lim () = 1 , lim () = 2 and
→ →
lim () = 3 . But by (1), lim r() = lim () lim () lim () , so lim r() = h1 2 3 i = b.
→ → → → → →
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SECTION 13.2 DERIVATIVES AND INTEGRALS OF VECTOR FUNCTIONS ¤ 325
13.2 Derivatives and Integrals of Vector Functions
1. (a)
r(45) − r(4)
(b) = 2[r(45) − r(4)], so we draw a vector in the same
05
direction but with twice the length of the vector r(45) − r(4).
r(42) − r(4)
= 5[r(42) − r(4)], so we draw a vector in the same
02
direction but with 5 times the length of the vector r(42) − r(4).
r(4 + ) − r(4) r0 (4)
(c) By Definition 1, r0 (4) = lim . T(4) = 0 .
→0 |r (4)|
(d) T(4) is a unit vector in the same direction as r0 (4), that is, parallel to the
tangent line to the curve at r(4) with length 1.
2. (a) The curve can be represented by the parametric equations = 2 , = , 0 ≤ ≤ 2. Eliminating the parameter, we have
= 2 , 0 ≤ ≤ 2, a portion of which we graph here, along with the vectors r(1), r(11), and r(11) − r(1).
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326 ¤ CHAPTER 13 VECTOR FUNCTIONS
(b) Since r() = 2 , we differentiate components, giving r0 () = h2 1i, so r0 (1) = h2 1i.
r(11) − r(1) h121 11i − h1 1i
= = 10 h021 01i = h21 1i.
01 01
As we can see from the graph, these vectors are very close in length and direction. r0 (1) is defined to be
r(1 + ) − r(1) r(11) − r(1)
lim , and we recognize as the expression after the limit sign with = 01 Since is
→0 01
r(11) − r(1)
close to 0, we would expect to be a vector close to r0 (1).
01
3. r() = − 2 2 + 1 , (a), (c) (b) r0 () = h1 2i,
r(−1) = h−3 2i. r0 (−1) = h1 −2i
Since ( + 2)2 = 2 = − 1 ⇒
= ( + 2)2 + 1, the curve is a
parabola.
4. r() = 2 3 , r(1) = h1 1i. (a), (c) (b) r0 () = 2 32 ,
Since = 2 = (3 )23 = 23 , r0 (1) = h2 3i
the curve is the graph of = 23 .
5. r() = 2 i + j, r(0) = i + j. (a), (c) (b) r0 () = 22 i + j,
Since = 2 = ( )2 = 2 , the r0 (0) = 2 i + j
curve is part of a parabola. Note
that here 0, 0.
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SECTION 13.2 DERIVATIVES AND INTEGRALS OF VECTOR FUNCTIONS ¤ 327
6. r() = i + 2 j, r(0) = i. (a), (c) (b) r0 () = i + 2 j,
Since = ⇔ = ln and r0 (0) = i + 2 j
= 2 = 2 ln , the curve is the
graph of = 2 ln .
√ √ √ √
7. r() = 4 sin i − 2 cos j, r(34) = 4( 22) i − 2(− 22) j = 2 2 i + 2 j.
2 2
Here (4)2 + (2)2 = sin2 + cos2 = 1, so the curve is the ellipse + = 1.
16 4
(a), (c) (b) r0 () = 4 cos i + 2 sin j,
√ √
r0 (34) = −2 2 i + 2 j.
1 √ √
8. r() = (cos + 1) i + (sin − 1) j, r(−3) = 2
+ 1 i + − 23 − 1 j = 3
2
i + − 23 − 1 j ≈ 15 i − 187 j.
Here ( − 1)2 + ( + 1)2 = cos2 + sin2 = 1, so the curve is a circle of radius 1 with center (1 −1).
(a), (c) (b) r0 () = − sin i + cos j,
√
r0 (−3) = 2
3
i + 1
2
j ≈ 087 i + 05 j
√
9. r() = − 2 3 12 ⇒
√ 2 1 2
r0 () = − 2 [3] 1 1
= 2 ( − 2)−12
0 −2−3
= √ 0 −
2 −2 3
10. r() = − − 3 ln ⇒ r0 () = −− 1 − 32 1
11. r() = 2 i + cos 2 j + sin2 k ⇒
r0 () = 2 i + − sin(2 ) · 2 j + (2 sin · cos ) k = 2 i − 2 sin(2 ) j + 2 sin cos k
1 2
12. r() = i+ j+ k ⇒
1+ 1+ 1+
0 − 1(1) (1 + ) · 1 − (1) (1 + ) · 2 − 2 (1) 1 1 2 + 2
r0 () = i + j + k = − i + j + k
(1 + )2 (1 + )2 (1 + )2 (1 + )2 (1 + )2 (1 + )2
13. r() = sin i + cos j + sin cos k ⇒
r0 () = [ · cos + (sin ) · 1] i + (− sin ) + (cos ) j + [(sin )(− sin ) + (cos )(cos )] k
= ( cos + sin ) i + (cos − sin ) j + cos2 − sin2 k
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328 ¤ CHAPTER 13 VECTOR FUNCTIONS
14. r() = sin2 i + j + cos2 k ⇒
r0 () = [2(sin ) · (cos )()] i + · () + · 1 j + [2(cos ) · (− sin )()] k
= 2 sin cos i + ( + 1) j − 2 sin cos k
15. r0 () = 0 + b + 2 c = b + 2 c by Formulas 1 and 3 of Theorem 3.
16. To find r0 (), we first expand r() = a × (b + c) = (a × b) + 2 (a × c), so r0 () = a × b + 2(a × c).
17. r() = 2 − 2 1 + 3 13 3 + 12 2 ⇒ r0 () = 2 − 2 3 2 + ⇒ r0 (2) = h2 3 6i.
√ √ r0 (2)
So |r0 (2)| = 22 + 32 + 62 = 49 = 7 and T(2) = 0 = 17 h2 3 6i = 27 37 67 .
|r (2)|
18. r() = tan−1 22 8 ⇒ r0 () = 1(1 + 2 ) 42 8 + 8 ⇒ r0 (0) = h1 4 8i.
√ √ r0 (0)
So |r0 (0)| = 12 + 42 + 82 = 81 = 9 and T(0) = 0 = 19 h1 4 8i = 19 49 89 .
|r (0)|
19. r0 () = − sin i + 3 j + 4 cos 2 k ⇒ r0 (0) = 3 j + 4 k. Thus
r0 (0) 1
T(0) = = √ (3 j + 4 k) = 15 (3 j + 4 k) = 3
5
j+ 4
5
k.
|r0 (0)| 02 + 32 + 42
20. r0 () = 2 sin cos i − 2 cos sin j + 2 tan sec2 k ⇒
√ √ √ √√ √ √ √
r0 4
=2· · 22 i − 2 · 22 · 22 j + 2 · 1 · ( 2)2 k = i − j + 4 k and r0 4 = 1 + 1 + 16 = 18 = 3 2. Thus
2
2
r0 1 1 1 4
T 4 = 0 4 = √ (i − j + 4 k) = √ i − √ j + √ k.
r 4 3 2 3 2 3 2 3 2
√ √
21. r() = 2 3 ⇒ r0 () = 1 2 32 . Then r0 (1) = h1 2 3i and |r0 (1)| = 12 + 22 + 32 = 14, so
r0 (1)
T(1) = = √1 h1 2 3i = √1 √2 √3 . r00 () = h0 2 6i, so
|r0 (1)| 14 14 14 14
i j k
2 32 1 32 1 2
0 00 2
r () × r () = 1 2 3 = i − j + k
2 6 0 6 0 2
0 2 6
= (122 − 62 ) i − (6 − 0) j + (2 − 0) k = 62 −6 2
22. r() = 2 −2 2 ⇒ r0 () = 22 −2−2 (2 + 1)2 ⇒ r0 (0) = 20 −20 (0 + 1)0 = h2 −2 1i
r0 (0)
and |r0 (0)| = 22 + (−2)2 + 12 = 3. Then T(0) = 0 = 13 h2 −2 1i = 23 − 23 13 .
|r (0)|
r00 () = 42 4−2 (4 + 4)2 ⇒ r00 (0) = 40 40 (0 + 4)0 = h4 4 4i.
r0 () · r00 () = 22 −2−2 (2 + 1)2 · 42 4−2 (4 + 4)2
= (22 )(42 ) + (−2−2 )(4−2 ) + ((2 + 1)2 )((4 + 4)2 )
= 84 − 8−4 + (82 + 12 + 4)4 = (82 + 12 + 12)4 − 8−4
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SECTION 13.2 DERIVATIVES AND INTEGRALS OF VECTOR FUNCTIONS ¤ 329
√ 2
√ 2
23. The vector equation for the curve is r() = 2 + 1 4 − , so r0 () = 2 2 (2 − 1) − . The point (2 4 1)
corresponds to = 1, so the tangent vector there is r0 (1) = h2 2 1i. Thus, the tangent line goes through the point (2 4 1)
and is parallel to the vector h2 2 1i. Parametric equations are = 2 + 2, = 4 + 2, = 1 + .
24. The vector equation for the curve is r() = ln( + 1) cos 2 2 , so r0 () = 1( + 1) cos 2 − 2 sin 2 2 ln 2 . The
point (0 0 1) corresponds to = 0, so the tangent vector there is r0 (0) = h1 1 ln 2i. Thus, the tangent line goes through the
point (0 0 1) and is parallel to the vector h1 1 ln 2i. Parametric equations are = 0 + 1 · = , = 0 + 1 · = ,
= 1 + (ln 2).
25. The vector equation for the curve is r() = − cos − sin − , so
r0 () = − (− sin ) + (cos )(−− ), − cos + (sin )(−− ), (−− )
= −− (cos + sin ) − (cos − sin ) −−
The point (1 0 1) corresponds to = 0, so the tangent vector there is
r0 (0) = −0 (cos 0 + sin 0) 0 (cos 0 − sin 0) −0 = h−1 1 −1i. Thus, the tangent line is parallel to the vector
h−1 1 −1i and parametric equations are = 1 + (−1) = 1 − , = 0 + 1 · = , = 1 + (−1) = 1 − .
√ √
26. The vector equation for the curve is r() = 2 + 3 ln(2 + 3) , so r0 () = 2 + 3 2(2 + 3) 1 . At (2 ln 4 1),
1
= 1 and r0 (1) = 1
2 21 . Thus, parametric equations of the tangent line are = 2 + 12 , = ln 4 + 12 , = 1 + .
27. First we parametrize the curve of intersection. The projection of onto the -plane is contained in the circle
2 + 2 = 25, = 0, so we can write = 5 cos , = 5 sin . also lies on the cylinder 2 + 2 = 20, and ≥ 0
near the point (3 4 2), so we can write = 20 − 2 = 20 − 25 sin2 . A vector equation then for is
r() = 5 cos 5 sin 20 − 25 sin2 ⇒ r0 () = −5 sin 5 cos 12 (20 − 25 sin2 )−12 (−50 sin cos ) .
The point (3 4 2) corresponds to = cos−1 35 , so the tangent vector there is
2 −12
r0 cos−1 35 = −5 45 5 35 12 20 − 25 45 −50 45 35 = h−4 3 −6i.
The tangent line is parallel to this vector and passes through (3 4 2), so a vector equation for the line
is r() = (3 − 4)i + (4 + 3)j + (2 − 6)k.
28. r() = 2 cos 2 sin ⇒ r0 () = −2 sin 2 cos . The tangent line to the curve is parallel to the plane when the
√
curve’s tangent vector is orthogonal to the plane’s normal vector. Thus we require −2 sin 2 cos · 3 1 0 = 0 ⇒
√
−2 3 sin + 2 cos + 0 = 0 ⇒ tan = √1
3
⇒ =
6
[since 0 ≤ ≤ ].
√ √
r 6 = 3 1 6 , so the point is ( 3 1 6 ).
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330 ¤ CHAPTER 13 VECTOR FUNCTIONS
29. r() = − 2 − 2 ⇒ r0 () = 1 −− 2 − 2 . At (0 1 0),
= 0 and r0 (0) = h1 −1 2i. Thus, parametric equations of the tangent
line are = , = 1 − , = 2.
30. r() = h2 cos 2 sin 4 cos 2i,
√
r0 () = h−2 sin 2 cos −8 sin 2i. At 3 1 2 , =
6
and
√ √
r0 ( 6 ) = −1 3 −4 3 . Thus, parametric equations of the
√ √ √
tangent line are = 3 − , = 1 + 3 , = 2 − 4 3 .
31. r() = h cos sin i ⇒ r0 () = hcos − sin 1 cos + sin i.
At (− 0), = and r0 () = h−1 1 −i. Thus, parametric equations
of the tangent line are = − − , = + , = −.
32. (a) The tangent line at = 0 is the line through the point with position vector r(0) = hsin 0 2 sin 0 cos 0i = h0 0 1i, and in
the direction of the tangent vector, r0 (0) = h cos 0 2 cos 0 − sin 0i = h 2 0i. So an equation of the line is
h i = r(0) + r0 (0) = h0 + 0 + 2 1i = h 2 1i.
r 12 = sin 2 2 sin 2 cos 2 = h1 2 0i , (b)
r0 12 = cos 2 2 cos 2 − sin 2 = h0 0 −i .
So the equation of the second line is
h i = h1 2 0i + h0 0 −i = h1 2 −i.
The lines intersect where h 2 1i = h1 2 −i,
so the point of intersection is (1 2 1).
33. The angle of intersection of the two curves is the angle between the two tangent vectors to the curves at the point of
intersection. Since r01 () = 1 2 32 and = 0 at (0 0 0), r01 (0) = h1 0 0i is a tangent vector to r1 at (0 0 0). Similarly,
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SECTION 13.2 DERIVATIVES AND INTEGRALS OF VECTOR FUNCTIONS ¤ 331
r02 () = hcos 2 cos 2 1i and since r2 (0) = h0 0 0i, r02 (0) = h1 2 1i is a tangent vector to r2 at (0 0 0). If is the angle
between these two tangent vectors, then cos = √11√6 h1 0 0i · h1 2 1i = √16 and = cos−1 √16 ≈ 66◦ .
34. To find the point of intersection, we must find the values of and which satisfy the following three equations simultaneously:
= 3 − , 1 − = − 2, 3 + 2 = 2 . Solving the last two equations gives = 1, = 2 (check these in the first equation).
Thus the point of intersection is (1 0 4). To find the angle of intersection, we proceed as in Exercise 33. The tangent
vectors to the respective curves at (1 0 4) are r01 (1) = h1 −1 2i and r02 (2) = h−1 1 4i. So
cos = √61√18 (−1 − 1 + 8) = 6√ 6
3
= √13 and = cos−1 √13 ≈ 55◦ .
Note: In Exercise 33, the curves intersect when the value of both parameters is zero. However, as seen in this exercise, it is not
necessary for the parameters to be of equal value at the point of intersection.
2
2 2 2
35. 0
( i − 3 j + 35 k) = 0
i − 0 3 j + 0 35 k
1 2 2 2 2
= 2
0 i − 14 4 0 j + 12 6 0 k
= 12 (4 − 0) i − 14 (16 − 0) j + 12 (64 − 0) k = 2 i − 4 j + 32 k
4 √
4 4
36. 232 i + ( + 1) k = 1 232 i + 1 (32 + 12 ) k
1
4 4
4 52 2 52
= 5 i+ 5 + 23 32 k
1 1
= 45 (452 − 1) i + 2
5
(4)52 + 23 (4)32 − 2
5
− 2
3
k
2
= 45 (31) i + 5
(32) + 23 (8) − 2
5
− 2
3
k= 124
5
i+ 256
15
k
1 1 1 1
1 1 1 1
37. i+ 2 j+ 2 k = i + 2
j + 2
k
0 +1 +1 +1 0 +1 0 +1 0 +1
1 1
= [ ln | + 1| ]10 i + tan−1 0 j + 12 ln(2 + 1) 0 k
= (ln 2 − ln 1) i + ( 4 − 0) j + 12 (ln 2 − ln 1) k = ln 2 i +
4
j+ 1
2
ln 2 k
4
38. 0
(sec tan i + cos 2 j + sin2 2 cos 2 k)
4 4 4
= 0 sec tan i + 0 cos 2 j + 0 sin2 2 cos 2 k
4 4 4 4
= sec 0 i + 12 sin 2 0 − 0 21 sin 2 j + 16 sin3 2 0 k
[For the -component, integrate by parts with = , = cos 2 .]
4
= (sec − sec 0) i + 8 sin 2 − 0 − − 14 cos 2 0
4
j + 16 sin3 2 − sin3 0 k
√ √
= ( 2 − 1) i + 8 + 14 cos 2 − 14 cos 0 j + 16 (1 − 0) k = ( 2 − 1) i + 8 − 14 j + 16 k
2 2
39. (sec2 i + (2 + 1)3 j + 2 ln k) = sec2 i + ( + 1)3 j + ln k
= tan i + 18 (2 + 1)4 j + 13 3 ln − 19 3 k + C,
where C is a vector constant of integration. [For the -component, integrate by parts with = ln , = 2 .]
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332 ¤ CHAPTER 13 VECTOR FUNCTIONS
1 1
40. 2 i + j+ √ k = 2 i + j + √ k
1− 1 − 2 1− 1 − 2
1 1
= 12 2 − 12 2 i + −1 + j + √ k
1− 1 − 2
= 12 2 − 14 2 i + (− − ln | 1 − |) j + sin−1 k + C
√
41. r0 () = 2 i + 32 j + k ⇒ r() = 2 i + 3 j + 23 32 k + C, where C is a constant vector.
But i + j = r (1) = i + j + 23 k + C. Thus C = − 23 k and r() = 2 i + 3 j + 23 32 − 23 k.
42. r0 () = i + j + k⇒ r() = 12 2 i + j + − k + C. But i + j + k = r (0) = j − k + C.
Thus C = i + 2 k and r() = 12 2 + 1 i + j + ( − + 2) k.
For Exercises 43 – 46, let u() = h1 () 2 () 3 ()i and v() = h1 () 2 () 3 ()i. In each of these exercises, the procedure is to apply
Theorem 2 so that the corresponding properties of derivatives of real-valued functions can be used.
43. [u() + v()] = h1 () + 1 () 2 () + 2 () 3 () + 3 ()i
= [1 () + 1 ()] [2 () + 2 ()] [3 () + 3 ()]
= h01 () + 10 () 02 () + 20 () 03 () + 30 ()i
= h01 () 02 () 03 ()i + h10 () 20 () 30 ()i = u0 () + v0 ()
44. [ () u()] = h()1 () ()2 () ()3 ()i
= [()1 ()] [()2 ()] [ ()3 ()]
= h 0 ()1 () + ()01 () 0 ()2 () + ()02 () 0 ()3 () + ()03 ()i
= 0 () h1 () 2 () 3 ()i + () h01 () 02 () 03 ()i = 0 () u() + () u0 ()
45. [u() × v()] = h2 ()3 () − 3 ()2 () 3 ()1 () − 1 ()3 () 1 ()2 () − 2 ()1 ()i
= h02 3 () + 2 ()30 () − 03 ()2 () − 3 ()20 ()
03 ()1 () + 3 ()10 () − 01 ()3 () − 1 ()30 ()
01 ()2 () + 1 ()20 () − 02 ()1 () − 2 ()10 ()i
= h02 ()3 () − 03 ()2 () 03 ()1 () − 01 ()3 () 01 ()2 () − 02 ()1 ()i
+ h2 ()30 () − 3 ()20 () 3 ()10 () − 1 ()30 () 1 ()20 () − 2 ()10 ()i
= u0 () × v() + u() × v0 ()
Alternate solution: Let r() = u() × v(). Then
r( + ) − r() = [u( + ) × v( + )] − [u() × v()]
= [u( + ) × v( + )] − [u() × v()] + [u( + ) × v()] − [u( + ) × v()]
= u( + ) × [v( + ) − v()] + [u( + ) − u()] × v()
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SECTION 13.2 DERIVATIVES AND INTEGRALS OF VECTOR FUNCTIONS ¤ 333
(Be careful of the order of the cross product.) Dividing through by and taking the limit as → 0 we have
u( + ) × [v( + ) − v()] [u( + ) − u()] × v()
r0 () = lim + lim = u() × v0 () + u0 () × v()
→0 →0
by Exercise 13.1.53(a) and Definition 1.
46. [u( ())] = h1 ( ()) 2 ( ()) 3 ( ())i = [1 ( ())] [2 ( ())] [3 ( ())]
= h 0 ()01 ( ()) 0 ()02 ( ()) 0 ()03 ( ())i = 0 () u0 ()
47. [u() · v()] = u0 () · v() + u() · v0 () [by Formula 4 of Theorem 3]
= hcos − sin 1i · h cos sin i + hsin cos i · h1 − sin cos i
= cos − cos sin + sin + sin − cos sin + cos
= 2 cos + 2 sin − 2 cos sin
48. [u() × v()] = u0 () × v() + u() × v0 () [by Formula 5 of Theorem 3]
= hcos − sin 1i × h cos sin i + hsin cos i × h1 − sin cos i
= − sin2 − cos − cos sin cos2 + sin
+ cos2 + sin − cos sin − sin2 − cos
= cos2 − sin2 − cos + sin 2 − 2 cos sin cos2 − sin2 − cos + sin
49. By Formula 4 of Theorem 3, 0 () = u0 () · v() + u() · v0 (), and v0 () = 1 2 32 , so
0 (2) = u0 (2) · v(2) + u(2) · v0 (2) = h3 0 4i · h2 4 8i + h1 2 −1i · h1 4 12i = 6 + 0 + 32 + 1 + 8 − 12 = 35.
50. By Formula 5 of Theorem 3, r0 () = u0 () × v() + u() × v0 (), so
r0 (2) = u0 (2) × v(2) + u(2) × v0 (2) = h3 0 4i × h2 4 8i + h1 2 −1i × h1 4 12i
= h−16 −16 12i + h28 −13 2i = h12 −29 14i
51. r() = a cos + b sin ⇒ r0 () = −a sin + b cos by Formulas 1 and 3 of Theorem 3. Then
r() × r0 () = (a cos + b sin ) × (−a sin + b cos )
= (a cos + b sin ) × (−a sin ) + (a cos + b sin ) × (b cos )
[by Property 3 of Theorem 12.4.11]
= a cos × (−a sin ) + b sin × (−a sin ) + a cos × b cos + b sin × b cos
[by Property 4]
= (cos ) (− sin ) (a × a) + (sin ) (− sin ) (b × a) + (cos ) ( cos ) (a × b)
+ (sin ) ( cos ) (b × b) [by Property 2]
= 0 + sin2 (a × b) + cos2 (a × b) + 0 [by Property 1 and Example 12.4.2]
= sin2 + cos2 (a × b) = (a × b) = a × b [by Property 2]
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334 ¤ CHAPTER 13 VECTOR FUNCTIONS
52. From Exercise 51, r0 () = −a sin + b cos r00 () = −a 2 cos − b 2 sin . Then
⇒
r00 () + 2 r() = −a 2 cos − b 2 sin + 2 (a cos + b sin )
= −a 2 cos − b 2 sin + a 2 cos + b 2 sin = 0
53. [r() × r0 ()] = r0 () × r0 () + r() × r00 () by Formula 5 of Theorem 3. But r0 () × r0 () = 0 (by Example 12.4.2).
Thus, [r() × r0 ()] = r() × r00 ().
54. (u() · [v () × w()])= u0 () · [v() × w()] + u() · [v() × w ()]
= u0 () · [v() × w()] + u() · [v0 () × w() + v() × w0 ()]
= u0 () · [v() × w()] + u() · [v0 () × w()] + u() · [v() × w0 ()]
= u0 () · [v() × w()] − v0 () · [u() × w()] + w0 () · [u() × v()]
1
55. |r()| = [r() · r()]12 = 12 [r() · r()]−12 [2r() · r0 ()] = r() · r0 ()
|r()|
56. Since r() · r0 () = 0, we have 0 = 2r() · r0 () = [r() · r()] = |r()|2 . Thus |r()|2 , and so |r()|, is a constant,
and hence the curve lies on a sphere with center the origin.
57. Since u() = r() · [r0 () × r00 ()],
0
u0 () = r0 () · [r0 () × r00 ()] + r() · [r () × r00 ()]
= 0 + r() · [r00 () × r00 () + r0 () × r000 ()] [since r0 () ⊥ r0 () × r00 ()]
= r() · [r0 () × r000 ()] [since r00 () × r00 () = 0]
r( + ) − r()
58. The tangent vector r0 () is defined as lim . Here we assume that this limit exists and r0 () 6= 0; then we know
→0
that this vector lies on the tangent line to the curve. As in Figure 1, let points and have position vectors r() and r( + ).
−
−→
The vector r( + ) − r() points from to , so r( + ) − r() = . If 0 then + , so lies “ahead”
−
−→
of on the curve. If is sufficiently small (we can take to be as small as we like since → 0) then approximates
the curve from to and hence points approximately in the direction of the curve as increases. Since is positive,
1− −→ r( + ) − r()
= points in the same direction. If 0, then + so lies “behind” on the curve. For
−−
→
sufficiently small, approximates the curve but points in the direction of decreasing . However, is negative, so
1−−→ r( + ) − r()
= points in the opposite direction, that is, in the direction of increasing . In both cases, the difference
r( + ) − r()
quotient points in the direction of increasing . The tangent vector r0 () is the limit of this difference quotient,
so it must also point in the direction of increasing .
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SECTION 13.3 ARC LENGTH AND CURVATURE ¤ 335
13.3 Arc Length and Curvature
⇒ r0 () = h1 −3 sin 3 cos i ⇒
1. r() = h 3 cos 3 sin i
√
|r0 ()| = 12 + (−3 sin )2 + (3 cos )2 = 1 + 9(sin2 + cos2 ) = 10.
5 5 √ √ 5 √
Then using Formula 3, we have = −5
|r0 ()| = −5
10 = 10 −5 = 10 10.
2. r() = 2 2 13 3 ⇒ r0 () = 2 2 2 ⇒
√
|r0 ()| = 22 + (2)2 + (2 )2 = 4 + 42 + 4 = (2 + 2 )2 = 2 + 2 for 0 ≤ ≤ 1. Then using Formula 3, we have
1 1 1
= 0
|r0 ()| = 0
(2 + 2 ) = 2 + 13 3 0
= 73 .
√ √
3. r() = 2 i + j + − k ⇒ r0 () = 2 i + j − − k ⇒
√ √
2
|r0 ()| = 2 + ( )2 + (−− )2 = 2 + 2 + −2 = ( + − )2 = + − [since + − 0].
1 1 1
Then = 0
|r0 ()| = 0
( + − ) = − − 0 = − −1 .
− sin
4. r() = cos i + sin j + ln cos k ⇒ r0 () = − sin i + cos j + k = − sin i + cos j − tan k,
cos
√ √
|r0 ()| = (− sin )2 + cos2 + (− tan )2 = 1 + tan2 = sec2 = |sec |. Since sec 0 for 0 ≤ ≤ 4, here we
can say |r0 ()| = sec . Then
4 4
= 0
sec = ln |sec + tan | = ln sec 4 + tan 4 − ln |sec 0 + tan 0|
0
√ √
= ln 2 + 1 − ln |1 + 0| = ln( 2 + 1)
√ √
5. r() = i + 2 j + 3 k ⇒ r0 () = 2 j + 32 k ⇒ |r0 ()| = 42 + 94 = 4 + 92 [since ≥ 0].
1 1 √ 1
Then = 0
|r0 ()| = 0
4 + 92 = 1
18
· 23 (4 + 92 )32 = 1
27
(1332 − 432 ) = 1
27
(1332 − 8).
0
√
⇒ r0 () = 2 i + 9 j + 6 k ⇒
6. r() = 2 i + 9 j + 432 k
√
|r0 ()| = 42 + 81 + 36 = (2 + 9)2 = |2 + 9| = 2 + 9 [since 2 + 9 ≥ 0 for 1 ≤ ≤ 4]. Then
4 4 4
= 1
|r0 ()| = 1
(2 + 9) = 2 + 9 = 52 − 10 = 42.
1
√
7. r() = 2 3 4 ⇒ r0 () = 2 32 43 ⇒ |r0 ()| = (2)2 + (32 )2 + (43 )2 = 42 + 94 + 166 , so
2 2√
= 0
|r0 ()| = 0
42 + 94 + 166 ≈ 186833.
8. r() = − − ⇒ r0 () = 1 −− (1 − )− ⇒
|r0 ()| = 12 + (−− )2 + [(1 − )− ]2 = 1 + −2 + (1 − )2 −2 = 1 + (2 − 2 + 2 )−2 , so
3 3
= 1
|r0 ()| = 1
1 + (2 + 2 + 2 )−2 ≈ 20454.
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336 ¤ CHAPTER 13 VECTOR FUNCTIONS
9. r() = hcos 2 sin 2i ⇒ r0 () = h− sin 2 2 cos 2i ⇒ |r0 ()| = 2 sin2 + 4 + 4 2 cos2 2.
The point (1 0 0) corresponds to = 0 and (1 4 0) corresponds to = 2, so the length is
2 2
= 0 |r0 ()| = 0 2 sin2 + 4 + 4 2 cos2 2 ≈ 103311.
10. We plot two different views of the curve with parametric equations = sin , = sin 2, = sin 3. To help visualize the
curve, we also include a plot showing a tube of radius 007 around the curve.
The complete curve is given by the parameter interval [0 2] and we have r0 () = hcos 2 cos 2 3 cos 3i ⇒
√ 2 2 √
|r0 ()| = cos2 + 4 cos2 2 + 9 cos2 3, so = 0 |r0 ()| = 0 cos2 + 4 cos2 2 + 9 cos2 3 ≈ 160264.
11. The projection of the curve onto the -plane is the curve 2 = 2 or = ,
1 2
2
= 0. Then we can choose the parameter
= ⇒ = 12 2 . Since also lies on the surface 3 = , we have = 13 = 13 ()( 12 2 ) = 16 3 . Then parametric
equations for are = , = 12 2 , = 16 3 and the corresponding vector equation is r() = 12 2 16 3 . The origin
corresponds to = 0 and the point (6 18 36) corresponds to = 6, so
6 6 6 2 6
= 0 |r0 ()| = 0 1 12 2 = 0 12 + 2 + 12 2 = 0 1 + 2 + 14 4
6 6 6
= 0
(1 + 12 2 )2 = 0 (1 + 12 2 ) = + 16 3 0 = 6 + 36 = 42
12. Let be the curve of intersection. The projection of onto the -plane is the ellipse 42 + 2 = 4 or 2 + 2 4 = 1,
= 0. Then we can write = cos , = 2 sin , 0 ≤ ≤ 2. Since also lies on the plane + + = 2, we have
= 2 − − = 2 − cos − 2 sin . Then parametric equations for are = cos , = 2 sin , = 2 − cos − 2 sin ,
0 ≤ ≤ 2, and the corresponding vector equation is r() = hcos 2 sin 2 − cos − 2 sin i. Differentiating gives
r0 () = h− sin 2 cos sin − 2 cos i ⇒
|r0 ()| = (− sin )2 + (2 cos )2 + (sin − 2 cos )2 = 2 sin2 + 8 cos2 − 4 sin cos . The length of is
2 2
= 0
|r0 ()| = 0
2 sin2 + 8 cos2 − 4 sin cos ≈ 135191.
√ √
13. (a) r() = (5 − ) i + (4 − 3) j + 3 k ⇒ r0 () = −i + 4 j + 3 k and
= |r0 ()| = 1 + 16 + 9 = 26. The point
(4 1 3) corresponds to = 1, so the arc length function from is
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SECTION 13.3 ARC LENGTH AND CURVATURE ¤ 337
√ √ √ √
() = 1
|r0 ()| = 1
26 = 26 1 = 26 ( − 1). Since = 26 ( − 1), we have = √ + 1.
26
Substituting for in the original equation, the reparametrization of the curve with respect to arc length is
r(()) = 5 − √ + 1 i + 4 √ + 1 − 3 j + 3 √ + 1 k
26 26 26
4 3
= 4− √ i+ √ +1 j+ √ +3 k
26 26 26
(b) The point 4 units along the curve from has position vector
4 4(4) 3(4) 4 16 12
r((4)) = 4 − √ i + √ + 1 j + √ + 3 k, so the point is 4 − √ √ + 1 √ + 3 .
26 26 26 26 26 26
√ √
14. (a) r() = sin i + cos j + 2 k ⇒ r0 () = (cos + sin ) i + (cos − sin ) j + 2 k and
= |r0 ()| = 2 (cos + sin )2 + 2 (cos − sin )2 + 22
√
= 2 2(cos2 + sin2 ) + 2 cos sin − 2 cos sin + 2 = 42 = 2
√
The point 0 1 2 corresponds to = 0, so the arc length function from is
() = 0
|r0 ()| = 0
2 = 2 |0 = 2( − 1). Since = 2( − 1), we have = +1 ⇔
2
1
= ln 2
+ 1 . Substituting for in the original equation, the reparametrization of the curve with respect to arc length is
1 √ √
r(()) = 2 + 1 sin ln 12 + 1 i + 12 + 1 cos ln 12 + 1 j + 22 + 2 k.
(b) The point 4 units along the curve from has position vector
1 √ √
r((4)) = 2 (4) + 1 sin ln 12 (4) + 1 i + 12 (4) + 1 cos ln 12 (4) + 1 j + 22 (4) + 2 k, so the point is
√
3 sin(ln 3) 3 cos(ln 3) 3 2 .
√
15. Here r() = h3 sin 4 3 cos i, so r0 () = h3 cos 4 −3 sin i and |r0 ()| = 9 cos2 + 16 + 9 sin2 = 25 = 5.
The point (0 0 3) corresponds to = 0, so the arc length function beginning at (0 0 3) and measuring in the positive
direction is given by () = 0
|r0 ()| = 0
5 = 5. () = 5 ⇒ 5 = 5 ⇒ = 1, thus your location after
moving 5 units along the curve is (3 sin 1 4 3 cos 1).
2 2 −4 −22 + 2
16. r() = 2
− 1 i+ 2 j ⇒ r0 () = 2 2
i+ 2 j,
+1 +1 ( + 1) ( + 1)2
2 2
−4 −22 + 2 44 + 82 + 4 4(2 + 1)2 4 2
= |r0 ()| = + = = = = 2 .
(2 + 1)2 (2 + 1)2 (2 + 1)4 (2 + 1)4 (2 + 1)2 +1
Since the initial point (1 0) corresponds to = 0, the arc length function is
0
2
() = r () = = 2 arctan . Then arctan = 12 ⇒ = tan 12 . Substituting, we have
0 0 2 + 1
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338 ¤ CHAPTER 13 VECTOR FUNCTIONS
2 2 tan 12 1 − tan2 12 2 tan 12
r(()) = −1 i+ j= i+ j
tan2 12 + 1 tan2 12 + 1 1 + tan2 12 sec2 12
1 − tan2 12
= 1 i + 2 tan 12 cos2 12 j = cos2 12 − sin2 12 i + 2 sin 12 cos 12 j = cos i + sin j
2
sec 2
With this parametrization, we recognize the function as representing the unit circle. Note here that the curve approaches, but
does not include, the point (−1 0), since cos = −1 for = + 2 ( an integer) but then = tan 12 is undefined.
√
17. (a) r() = h 3 cos 3 sin i ⇒ r0 () = h1 −3 sin 3 cos i ⇒ |r0 ()| = 1 + 9 sin2 + 9 cos2 = 10.
r0 ()
Then T() = = √1 h1 −3 sin 3 cos i or √1 − √3 sin √3 cos .
|r0 ()| 10 10 10 10
T0 () = √1 h0 −3 cos −3 sin i ⇒ |T0 ()| = √1 0 + 9 cos2 + 9 sin2 = √3 . Thus
10 10 10
√
T0 () 1 10
N() = = √ h0 −3 cos −3 sin i = h0 − cos − sin i.
|T0 ()| 3 10
√
|T0 ()| 3 10 3
(b) () = 0 = √ =
|r ()| 10 10
18. (a) r() = 2 sin − cos cos + sin ⇒
r0 () = h2 cos + sin − cos , −sin + cos + sin i = h2 sin cos i ⇒
√ √
|r0 ()| = 42 + 2 sin2 + 2 cos2 = 42 + 2 (cos2 + sin2 ) = 52 = 5 [since 0]. Then
r0 () 1
T() = = √ h2 sin cos i = √1 h2 sin cos i. T0 () = 1
√ h0 cos − sin i ⇒
|r0 ()| 5 5 5
√
T0 () 1 5
0 √1 .
|T ()| = 1
√ 0 + cos2 + sin2 = Thus N() = = √ h0 cos − sin i = h0 cos − sin i.
5 5 |T0 ()| 1 5
√
|T0 ()| 1 5 1
(b) () = = √ =
|r0 ()| 5 5
√ √ √
19. (a) r() = 2 − ⇒ r0 () = 2 −− ⇒ |r0 ()| = 2 + 2 + −2 = ( + − )2 = + − .
Then
r0 () 1 √ 1 √ 2
T() = = 2 −− = 2 2 −1 after multiplying by and
|r0 ()| + − +1
1 √ 2 22 √ 2
T0 () = 2 2 0 − 2 2 −1
+12 2
( + 1)
1 √ √ 2 1 √
= 2 2
(2 + 1) 2 22 0 − 22 2 −1 = 2 2
2 1 − 2 22 22
( + 1) ( + 1)
Then
1 1
|T0 ()| = 22 (1 − 22 + 4 ) + 44 + 44 = 2 22 (1 + 22 + 4 )
(2 + 1)2 2
( + 1)
√ √
1 2 (1 + 2 )2 =
2 (1 + 2 ) 2
= 2 2 =
( + 1)2 (2 + 1)2 2 + 1
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SECTION 13.3 ARC LENGTH AND CURVATURE ¤ 339
Therefore
T0 () 2 + 1 1 √
N() = 0
= √ 2 (1 − 2 ) 22 22
|T ()| 2 (2 + 1)2
1 √ 1 √ √
= √ 2 (1 − 2 ) 22 22 = 2 1 − 2 2 2
2
2 ( + 1) +1
√ √ √ 2 √ 2
|T0 ()| 2 1 2 2 2
(b) () = = · = = =
|r0 ()| 2 + 1 + − 3 + 2 + − 4 + 22 + 1 (2 + 1)2
√ √
20. (a) r() = 12 2 2 ⇒ r0 () = h1 2i ⇒ |r0 ()| = 1 + 2 + 42 = 1 + 52 . Then
r0 () 1
T() = = √ h1 2i.
|r0 ()| 1 + 52
−5 1
T0 () = h1 2i + √ h0 1 2i [by Formula 3 of Theorem 13.2.3]
(1 + 52 )32 1 + 52
1 1
= −5 −52 −102 + 0 1 + 52 2 + 102 = h−5 1 2i
(1 + 52 )32 (1 + 52 )32
√ √ √
1 √ 1 √ 5 52 + 1 5
|T0 ()| = 25 2 +1+4 = 25 2 +5 = =
(1 + 52 )32 (1 + 52 )32 (1 + 52 )32 1 + 52
T0 () 1 + 52 1 1
Thus N() = 0
= √ · h−5 1 2i = √ h−5 1 2i.
|T ()| 5 (1 + 52 )32 5 + 252
√ √
|T0 ()| 5(1 + 52 ) 5
(b) () = 0 = √ =
|r ()| 1 + 52 (1 + 52 )32
√
21. r() = 3 j + 2 k ⇒ r0 () = 32 j + 2 k, r00 () = 6 j + 2 k, |r0 ()| = 02 + (32 )2 + (2)2 = 94 + 42 ,
|r0 () × r00 ()| 62 62
r0 () × r00 () = −62 i, |r0 () × r00 ()| = 62 . Then () = 3 = √ 3 = .
0
|r ()| 94 + 42 (9 + 42 )32
4
22. r() = i + 2 j + k ⇒ r0 () = i + 2 j + k, r00 () = 2 j + k,
√
|r0 ()| = 12 + (2)2 + ( )2 = 1 + 42 + 2 , r0 () × r00 () = (2 − 2) i − j + 2 k,
|r0 () × r00 ()| = [(2 − 2) ]2 + (− )2 + 22 = (2 − 2)2 2 + 2 + 4 = (42 − 8 + 5)2 + 4.
|r0 () × r00 ()| (42 − 8 + 5)2 + 4 (42 − 8 + 5)2 + 4
Then () = = √ 3 = .
|r0 ()|3 1 + 42 + 2 (1 + 42 + 2 )32
√ 2 √ √
23. r() = 6 i + 2 j + 23 k ⇒ r0 () = 2 6 i + 2 j + 62 k, r00 () = 2 6 i + 12 k,
√
|r0 ()| = 242 + 4 + 364 = 4(94 + 62 + 1) = 4(32 + 1)2 = 2(32 + 1),
√ √
r0 () × r00 () = 24 i − 12 6 2 j − 4 6 k,
√ √
|r0 () × r00 ()| = 5762 + 8644 + 96 = 96(94 + 62 + 1) = 96(32 + 1)2 = 4 6 (32 + 1).
√ √
|r0 () × r00 ()| 4 6 (32 + 1) 6
Then () = = = .
|r0 ()|3 8(32 + 1)3 2(32 + 1)2
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340 ¤ CHAPTER 13 VECTOR FUNCTIONS
24. r() = 2 ln ln ⇒ r0 () = h2 1 1 + ln i, r00 () = 2 −12 1 . The point (1 0 0) corresponds
√ √
to = 1, and r0 (1) = h2 1 1i, |r0 (1)| = 22 + 12 + 12 = 6, r00 (1) = h2 −1 1i, r0 (1) × r00 (1) = h2 0 −4i,
√ √ √
√ √ |r0 (1) × r00 (1)| 2 5 2 5 30
|r0 (1) × r00 (1)| = 22 + 02 + (−4)2 = 20 = 2 5. Then (1) = = √ 3 = √ or .
|r0 (1)|3 6 6 6 18
25. r() = 2 3 ⇒ r0 () = 1 2 32 . The point (1 1 1) corresponds to = 1, and r0 (1) = h1 2 3i ⇒
√ √
|r0 (1)| = 1 + 4 + 9 = 14. r00 () = h0 2 6i ⇒ r00 (1) = h0 2 6i. r0 (1) × r00 (1) = h6 −6 2i, so
√
√ √ |r0 (1) × r00 (1)| 76 1 19
0 00
|r (1) × r (1)| = 36 + 36 + 4 = 76. Then (1) = = √ 3 = .
|r0 (1)|3 14 7 14
26. Note that we get the complete curve for 0 ≤ 2.
r() = hcos sin sin 5i ⇒ r0 () = h− sin cos 5 cos 5i,
r00 () = h− cos − sin −25 sin 5i. The point (1 0 0)
corresponds to = 0, and r0 (0) = h0 1 5i ⇒
√ √
|r0 (0)| = 02 + 12 + 52 = 26, r00 (0) = h−1 0 0i,
r0 (0) × r00 (0) = h0 −5 1i ⇒
√
|r0 (0) × r00 (0)| = 02 + (−5)2 + 12 = 26. The curvature at
√
|r0 (0) × r00 (0)| 26 1
the point (1 0 0) is (0) = = √ 3 = .
|r0 (0)|3 26 26
| 00 ()| 122 122
27. () = 4 , 0 () = 43 , 00 () = 122 , () = 0 2 32
= 3 2 32
=
[1 + ( ()) ] [1 + (4 ) ] (1 + 166 )32
28. () = tan , 0 () = sec2 , 00 () = 2 sec · sec tan = 2 sec2 tan ,
| 00 ()| 2 sec2 tan 2 sec2 |tan |
() = 0 2 32
= 2 2 32
=
[1 + ( ()) ] [1 + (sec ) ] (1 + sec4 )32
29. () = , 0 () = + , 00 () = + 2 ,
| 00 ()| | + 2 | | + 2|
() = 0 2 32
= 2 32
=
[1 + ( ()) ] [1 + ( + ) ] [1 + ( + )2 ]32
1 1
30. 0 = , 00 = − 2 ,
| 00 ()| −1 1 1 (2 )32 ||
() = = = = 2 = 2 [since 0].
0 2 32 2 (1 + 12 )32 2 (2 + 1)32 ( + 1)32 ( + 1)32
1 + ( ())
To find the maximum curvature, we first find the critical numbers of ():
0 (2 + 1)32 − 32 (2 + 1)12 (2) (2 + 1)12 [(2 + 1) − 32 ] 1 − 22
() = 2 = 2 3
= 2 ;
[(2 + 1)32 ] ( + 1) ( + 1)52
0 () = 0 ⇒ 1 − 22 = 0, so the only critical number in the domain is = √1 .
2
Since 0 () 0 for 0 √1
2
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SECTION 13.3 ARC LENGTH AND CURVATURE ¤ 341
and 0 () 0 for √12 , () attains its maximum at = √12 . Thus, the maximum curvature occurs at √12 ln √12 .
Since lim = 0, () approaches 0 as → ∞.
→∞ (2 + 1)32
| 00 ()|
31. Since 0 = 00 = , the curvature is () = = = (1 + 2 )−32 .
[1 + ( 0 ())2 ]32 (1 + 2 )32
To find the maximum curvature, we first find the critical numbers of ():
1 + 2 − 32 1 − 22
0 () = (1 + 2 )−32 + − 32 (1 + 2 )−52 (22 ) = 2 52
= .
(1 + ) (1 + 2 )52
0 () = 0 when 1 − 22 = 0, so 2 = or = − 12 ln 2. And since 1 − 22 0 for − 12 ln 2 and 1 − 22 0
1
2
for − 12 ln 2, the maximum curvature is attained at the point − 12 ln 2 (− ln 2)2 = − 12 ln 2 √12 .
Since lim (1 + 2 )−32 = 0 () approaches 0 as → ∞.
→∞
32. We can take the parabola as having its vertex at the origin and opening upward, so the equation is () = 2 0. Then by
| 00 ()| |2| 2
Equation 11, () = = = , thus (0) = 2. We want (0) = 4, so
[1 + ( 0 ())2 ]32 [1 + (2)2 ]32 (1 + 42 2 )32
= 2 and the equation is = 22 .
33. (a) appears to be changing direction more quickly at than , so we would expect the curvature to be greater at .
(b) First we sketch approximate osculating circles at and . Using the
axes scale as a guide, we measure the radius of the osculating circle
1
at to be approximately 08 units, thus = ⇒
1 1
= ≈ ≈ 13. Similarly, we estimate the radius of the
08
1 1
osculating circle at to be 14 units, so = ≈ ≈ 07.
14
34. = 4 − 22 ⇒ 0 = 43 − 4, 00 = 122 − 4, and
| 00 | 122 − 4
() = 32 = 32 . The graph of the
1 + (0 )2 1 + (43 − 4)2
curvature here is what we would expect. The graph of = 4 − 22
appears to be bending most sharply at the origin and near = ±1.
35. = −2 ⇒ 0 = −2−3 , 00 = 6−4 , and
−4
| 00 | 6 6
() = = = .
0 2 32
−3 2 32 4 (1 + 4−6 )32
1 + ( ) 1 + (−2 )
The appearance of the two humps in this graph is perhaps a little surprising, but it is
explained by the fact that = −2 increases asymptotically at the origin from both
directions, and so its graph has very little bend there. [Note that (0) is undefined.]
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342 ¤ CHAPTER 13 VECTOR FUNCTIONS
36. r() = h − sin 1 − cos 4 cos(2)i ⇒ r0 () = h1 − cos sin −2 sin(2)i, r00 () = hsin cos − cos(2)i.
√
Using a CAS, r0 () × r00 () = −2 sin3 (2) − sin(2) sin cos − 1 , |r0 () × r00 ()| = 3 − 4 cos + cos 2 or
√ √ √
2 2 sin2 (2), and |r0 ()| = 2 1 − cos or 2 2 |sin(2)|. (To compute cross products in Maple, use the
VectorCalculus or LinearAlgebra package and the CrossProduct(a,b) command. Here loading
the RealDomain package will give simpler results. In Mathematica, use Cross[a,b].)
√
|r0 () × r00 ()| 3 − 4 cos + cos 2 1 1
Then () = = or √ or . We plot the space curve and its
|r0 ()|3 8 (1 − cos )32 4 2 − 2 cos 8 |sin(2)|
curvature function for 0 ≤ ≤ 8 below.
The asymptotes in the graph of () correspond to the sharp cusps we see in the graph of r(). The space curve bends most
sharply as it approaches these cusps (mostly in the -direction) and bends most gradually between these, near its intersections
with the -plane, where = + 2 ( an integer). (The bending we see in the -direction on the curve near these points is
deceiving; most of the curvature occurs in the -direction.) The curvature graph has local minima at these values of .
√ √
37. r() = − 2 ⇒ r0 () = ( + 1) −− 2 , r00 () = ( + 2) − 0 . Then
√ √
r0 () × r00 () = − 2− 2( + 2) 2 + 3 , |r0 () × r00 ()| = 2−2 + 2( + 2)2 2 + (2 + 3)2 ,
|r0 () × r00 ()| 2−2 + 2( + 2)2 2 + (2 + 3)2
|r ()| = ( + 1)2 2 + −2 + 2, and () =
0
= .
|r0 ()|3 [( + 1)2 2 + −2 + 2]32
We plot the space curve and its curvature function for −5 ≤ ≤ 5 below.
From the graph of () we see that curvature is maximized for = 0, so the curve bends most sharply at the point (0 1 0).
The curve bends more gradually as we move away from this point, becoming almost linear. This is reflected in the curvature
graph, where () becomes nearly 0 as || increases.
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SECTION 13.3 ARC LENGTH AND CURVATURE ¤ 343
38. Notice that the curve is highest for the same -values at which curve is turning more sharply, and is 0 or near 0 where is
nearly straight. So, must be the graph of = (), and is the graph of = ().
39. Notice that the curve has two inflection points at which the graph appears almost straight. We would expect the curvature to
be 0 or nearly 0 at these values, but the curve isn’t near 0 there. Thus, must be the graph of = () rather than the graph
of curvature, and is the graph of = ().
40. (a) The complete curve is given by 0 ≤ ≤ 2. Curvature
appears to have a local (or absolute) maximum at 6
points. (Look at points where the curve appears to turn
more sharply.)
(b) Using a CAS, we find (after simplifying)
√
3 2 (5 sin + sin 5)2
() = . (To compute cross
(9 cos 6 + 2 cos 4 + 11)32
products in Maple, use the VectorCalculus or
LinearAlgebra package and the
CrossProduct(a,b) command; in Mathematica, use
Cross[a,b].) The graph shows 6 local (or absolute)
maximum points for 0 ≤ ≤ 2, as observed in part (a).
41. Using a CAS, we find (after simplifying)
√
6 4 cos2 − 12 cos + 13
() = . (To compute cross
(17 − 12 cos )32
products in Maple, use the VectorCalculus or
LinearAlgebra package and the CrossProduct(a,b)
command; in Mathematica, use Cross[a,b].) Curvature is
largest at integer multiples of 2.
42. Here r() = h() ()i, r0 () = h 0 () 0 ()i, r00 () = h 00 () 00 ()i,
3
3
|r0 ()| = ( 0 ())2 + (0 ())2 = [( 0 ())2 + ( 0 ())2 ]32 = (̇2 + ̇ 2 )32 , and
12 |̇̈ − ̇̈|
|r0 () × r00 ()| = |h0 0 0 () 00 () − 00 () 0 ()i| = (̇̈ − ̈̇)2 = |̇̈ − ̇̈|. Thus () = 2 .
[̇ + ̇2 ]32
43. = 2 ⇒ ̇ = 2 ⇒ ̈ = 2, = 3 ⇒ ̇ = 32 ⇒ ̈ = 6.
2
|̇̈ − ̇̈| (2)(6) − (32 )(2) 12 − 62 62
Then () = 2 2 32
= 2 2 2 32
= 2 4 32
= .
[̇ + ̇ ] [(2) + (3 ) ] (4 + 9 ) (4 + 94 )32
2
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344 ¤ CHAPTER 13 VECTOR FUNCTIONS
44. = cos ⇒ ̇ = − sin ⇒ ̈ = −2 cos ,
= sin ⇒ ̇ = cos ⇒ ̈ = −2 sin . Then
|̇̈ − ̇̈| (− sin )(−2 sin ) − ( cos )(−2 cos )
() = 2 =
[̇ + ̇ 2 ]32 [(− sin )2 + ( cos )2 ]32
3 sin2 + 3 cos2 3
= 2 2 2 = 2 2 2
( sin + 2 2 cos2 )32 ( sin + 2 2 cos2 )32
45. = cos ⇒ ̇ = (cos − sin ) ⇒ ̈ = (− sin − cos ) + (cos − sin ) = −2 sin ,
= sin ⇒ ̇ = (cos + sin ) ⇒ ̈ = (− sin + cos ) + (cos + sin ) = 2 cos . Then
|̇̈ − ̇̈| (cos − sin )(2 cos ) − (cos + sin )(−2 sin )
() = 2 =
[̇ + ̇ 2 ]32 ([ (cos − sin )]2 + [ (cos + sin )]2 )32
2 2
2 (cos2 − sin cos + sin cos + sin2 ) 2 (1) 22 1
= 32 = 2 32
= 3 32 = √
2
2 (cos2 − 2 cos sin + sin + cos2 + 2 cos sin + sin ) 2 [ (1 + 1)] (2) 2
46. () = , 0 () = , 00 () = 2 . Using Formula 11 we have
2
| 00 ()| 2
() = 0 2 32
= 2 32
= so the curvature at = 0 is
[1 + ( ()) ] [1 + ( ) ] (1 + 2 2 )32
2 2
(0) = 2 32
. To determine the maximum value for (0), let () = . Then
(1 + ) (1 + 2 )32
2 · (1 + 2 )32 − 2 · 32 (1 + 2 )12 (2) (1 + 2 )12 2(1 + 2 ) − 33 2 − 3
0
() = = = . We have a critical
[(1 + 2 )32 ]2 (1 + 2 )3 (1 + 2 )52
√ √ √
number when 2 − 3 = 0 ⇒ (2 − 2 ) = 0 ⇒ = 0 or = ± 2. 0 () is positive for − 2, 0 2
√ √ 2
and negative elsewhere, so achieves its maximum value when = 2 or − 2. In either case, (0) = , so the members
332
√ √
of the family with the largest value of (0) are () = 2
and () = − 2
.
2 r0 () 2 22 1 2 22 1
47. 1 3 1 corresponds to = 1. T() = 0 = √ = 2 +1
, so T(1) = 23 23 13 .
|r ()| 2 4
4 + 4 + 1 2
T0 () = −4(22 + 1)−2 2 22 1 + (22 + 1)−1 h2 4 0i [by Formula 3 of Theorem 13.2.3]
−2
2
= (2 + 1) −8 + 4 + 2 −8 + 8 + 4 −4 = 2(22 + 1)−2 1 − 22 2 −2
2 2 3 3
T0 () 2(22 + 1)−2 1 − 22 2 −2 1 − 22 2 −2 1 − 22 2 −2
N() = = = √ =
|T0 ()| 2(22 + 1)−2 (1 − 22 )2 + (2)2 + (−2)2 1 − 42 + 44 + 82 1 + 22
N(1) = − 13 23 − 23 and B(1) = T(1) × N(1) = − 49 − 29 − − 49 + 19 49 + 29 = − 23 13 23 .
48. (1 0 0) corresponds to = 0. r() = hcos sin ln cos i, and in Exercise 4 we found that r0 () = h− sin cos − tan i
and |r0 ()| = |sec |. Here we can assume − 2
2 and then sec 0 ⇒ |r0 ()| = sec .
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SECTION 13.3 ARC LENGTH AND CURVATURE ¤ 345
r0 () h− sin cos − tan i
T() = 0
= = − sin cos cos2 − sin and T(0) = h0 1 0i.
|r ()| sec
T0 () = h−[(sin )(− sin ) + (cos )(cos )] 2(cos )(− sin ) − cos i = sin2 − cos2 −2 sin cos − cos , so
T0 (0) h−1 0 −1i 1
N(0) = = √ = √ h−1 0 −1i = − √1 0 − √1 .
|T0 (0)| 1+0+1 2 2 2
Finally, B(0) = T(0) × N(0) = h0 1 0i × − √12 0 − √12 = − √12 0 √12 .
49. r() = hsin 2 − cos 2 4i ⇒ r0 () = h2 cos 2 2 sin 2 4i. The point (0 1 2) corresponds to = 2, and the
normal plane there has normal vector r0 (2) = h−2 0 4i. An equation for the normal plane is
−2( − 0) + 0( − 1) + 4( − 2) = 0 or −2 + 4 = 8 or − 2 = −4.
r0 () h2 cos 2 2 sin 2 4i 1 1
T() = = = √ h2 cos 2 2 sin 2 4i = √ hcos 2 sin 2 2i ⇒
|r0 ()| 2 2
4 cos 2 + 4 sin 2 + 16 2 5 5
T0 () = √15 h−2 sin 2 2 cos 2 0i ⇒ |T0 ()| = √15 4 sin2 2 + 4 cos2 2 = √25 , and
T0 ()
N() = = h− sin 2 cos 2 0i. Then T(2) = √1 h−1 0 2i, N(2) = h0 −1 0i, and
|T0 ()| 5
B(2) = T(2) × N(2) = √1
5
h2 0 1i. Since B(2) is normal to the osculating plane, so is h2 0 1i, and an
equation of the plane is 2( − 0) + 0( − 1) + 1( − 2) = 0 or 2 + = 2.
50. r() = ln 2 2 ⇒ r0 () = h1 2 2i. The point (0 2 1) corresponds to = 1, and the normal plane there has
normal vector r0 (1) = h1 2 2i. An equation for the normal plane is 1( − 0) + 2( − 2) + 2( − 1) = 0 or
+ 2 + 2 = 6.
|r0 ()| = 12 + 4 + 42 = [(1) + 2]2 = (1) + 2 [since 0] and then
r0 () h1 2 2i 1
T() = 0 = = 1 2 2 2
after multiplying by . By Formula 3 of Theorem 13.2.3,
|r ()| (1) + 2 1 + 22
4 1
T0 () = − 2 2
1 2 22 + h0 2 4i
(1 + 2 ) 1 + 22
1 1
= −4 −82 + 2(1 + 22 ) −83 + 4(1 + 22 ) = −4 2 − 42 4
(1 + 22 )2 (1 + 22 )2
Then
1 1 √
|T0 ()| = 162 + (2 − 42 )2 + 162 = 162 + 4 + 164
(1 + 22 )2 (1 + 22 )2
1 2
= · 2 (1 + 22 )2 =
(1 + 22 )2 1 + 22
T0 () 1 1
and N() = 0
= 2
−4 2 − 42 4 = 2
−2 1 − 22 2 .
|T ()| 2(1 + 2 ) 1 + 2
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346 ¤ CHAPTER 13 VECTOR FUNCTIONS
Thus T(1) = 1
3 h1 2 2i, N(1) = 1
3 h−2 −1 2i, and B(1) = T(1) × N(1) = 1
9 h6 −6 3i is normal to the osculating plane.
We can take the parallel vector h2 −2 1i as a normal vector for the plane, so an equation is
2( − 0) − 2( − 2) + 1( − 1) = 0 or 2 − 2 + = −3.
Note: Since r0 (1) is parallel to T(1) and T0 (1) is parallel to N(1), we could have taken r0 (1) × T0 (1) as a normal vector for
the plane.
51. The ellipse is given by the parametric equations = 2 cos , = 3 sin , so using the result from Exercise 42,
|̇̈ − ̈̇| |(−2 sin )(−3 sin ) − (3 cos )(−2 cos )| 6
() = = = .
[̇2 + ̇ 2 ]32 (4 sin2 + 9 cos2 )32 (4 sin2 + 9 cos2 )32
At (2 0), = 0. Now (0) = 6
27
= 29 , so the radius of the osculating circle is
2
1(0) = 9
2
and its center is − 52 0 . Its equation is therefore + 52 + 2 = 81 4
.
At (0 3), = 2 , and 2 = 68 = 34 . So the radius of the osculating circle is 43 and
2
its center is 0 53 . Hence its equation is 2 + − 53 = 9 .
16
1
52. = 1 2
2
⇒ 0 = and 00 = 1, so Formula 11 gives () = . So the curvature at (0 0) is (0) = 1 and
(1 + 2 )32
the osculating circle has radius 1 and center (0 1), and hence equation 2 + ( − 1)2 = 1. The curvature at 1 12
1 1
is (1) = = √ . The tangent line to the parabola at 1 12
(1 + 12 )32 2 2
has slope 1, so the normal line has slope −1. Thus the center of the
osculating circle lies in the direction of the unit vector − √12 √12 .
√
The circle has radius 2 2, so its center has position vector
1 √
1 2 + 2 2 − √12 √12 = −1 52 . So the equation of the circle
2
is ( + 1)2 + − 52 = 8.
53. Here r() = 3 3 4 , and r0 () = 32 3 43 is normal to the normal plane for any . The given plane has normal vector
h6 6 −8i, and the planes are parallel when their normal vectors are parallel. Thus we need to find a value for where
2
3 3 43 = h6 6 −8i for some 6= 0. From the -component we see that = 12 , and
2
3 3 43 = 1
2
h6 6 −8i = h3 3 −4i for = −1. Thus the planes are parallel at the point (−1 −3 1).
54. To find the osculating plane, we first calculate the unit tangent and normal vectors.
In Maple, we use the VectorCalculus package and set r:= tˆ3,3*t,tˆ4;. After differentiating, the
Normalize command converts the tangent vector to the unit tangent vector: T:=Normalize(diff(r,t));. After
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SECTION 13.3 ARC LENGTH AND CURVATURE ¤ 347
2
3 3 43
simplifying, we find that T() = √ . We use a similar procedure to compute the unit normal vector,
166 + 94 + 9
−(86 − 9) −33 (3 + 82 ) 62 (4 + 3)
N:=Normalize(diff(T,t));. After simplifying, we have N() = . Then
2 (46 + 362 + 9)(166 + 94 + 9)
2
6 −24 −3
we use the command B:=CrossProduct(T,N);. After simplification, we find that B() = .
2 (46 + 362 + 9)
In Mathematica, we define the vector function r={tˆ3,3*t,tˆ4} and use the command Dt to differentiate. We find
T() by dividing the result by its magnitude, computed using the Norm command. (You may wish to include the option
Element[t,Reals] to obtain simpler expressions.) N() is found similarly, and we use Cross[T,N] to find B().
Now B() is parallel to 62 −24 −3 , so if B() is parallel to h1 1 1i for some 6= 0 [since B(0) = 0], then
2
6 −24 −3 = h1 1 1i for some value of . But then 62 = −24 = −3 which has no solution for 6= 0. So there is
no such osculating plane.
55. First we parametrize the curve of intersection. We can choose = ; then = 2 = 2 and = 2 = 4 , and the curve is
given by r() = 2 4 . r0 () = 2 1 43 and the point (1 1 1) corresponds to = 1, so r0 (1) = h2 1 4i is a normal
vector for the normal plane. Thus an equation of the normal plane is
r0 () 1
2( − 1) + 1( − 1) + 4( − 1) = 0 or 2 + + 4 = 7. T() = = √ 2 1 43 and
|r0 ()| 42 + 1 + 166
T0 () = − 12 (42 + 1 + 166 )−32 (8 + 965 ) 2 1 43 + (42 + 1 + 166 )−12 2 0 122 . A normal vector for
the osculating plane is B(1) = T(1) × N(1), but r0 (1) = h2 1 4i is parallel to T(1) and
T0 (1) = − 12 (21)−32 (104)h2 1 4i + (21)−12 h2 0 12i = 2
√
21 21
h−31 −26 22i is parallel to N(1) as is h−31 −26 22i,
so h2 1 4i × h−31 −26 22i = h126 −168 −21i is normal to the osculating plane. Thus an equation for the osculating
plane is 126( − 1) − 168( − 1) − 21( − 1) = 0 or 6 − 8 − = −3.
r0 () 1
56. r() = + 2 1 − 12 2 ⇒ r0 () = h1 −1 i, T() = = √ h1 −1 i,
|r0 ()| 2 + 2
T0 ()= − 12 (2 + 2 )−32 (2)h1 −1 i + (2 + 2 )−12 h0 0 1i
= −(2 + 2 )−32 h1 −1 i − (2 + 2 )h0 0 1i = (2+−1 2 )32 h − −2i
A normal vector for the osculating plane is B() = T() × N(), but r0 () = h1 −1 i is parallel to T() and h − −2i
is parallel to T0 () and hence parallel to N(), so h1 −1 i × h − −2i = 2 + 2 2 + 2 0 is normal to the
osculating plane for any . All such vectors are parallel to h1 1 0i, so at any point + 2 1 − 12 2 on the curve, an
equation for the osculating plane is 1[ − ( + 2)] + 1[ − (1 − )] + 0 − 12 2 = 0 or + = 3. Because the osculating
plane at every point on the curve is the same, we can conclude that the curve itself lies in that same plane. In fact, we can
easily verify that the parametric equations of the curve satisfy + = 3.
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348 ¤ CHAPTER 13 VECTOR FUNCTIONS
57. r() = cos sin ⇒ r0 () = (cos − sin ) (cos + sin ) so
|r0 ()| = 2 (cos − sin )2 + 2 (cos + sin )2 + 2
√ √
= 2 2(cos2 + sin2 ) − 2 cos sin + 2 cos sin + 1 = 32 = 3
r0 () 1 1
and T() = 0
= √ (cos − sin ) (cos + sin ) = √ hcos − sin cos + sin 1i. The vector
|r ()| 3 3
k = h0 0 1i is parallel to the -axis, so for any , the angle between T() and the -axis is given by
√1 hcos − sin cos + sin 1i · h0 0 1i
T() · k 3 1 1
cos = = √ = = √ . Thus the angle
|T()| |k| √1 2 2
(cos − sin ) + (cos + sin ) + 1 1 2 2
2(cos + sin ) + 1 3
3
√
is constant; specifically, = cos−1 (1 3) ≈ 547 ◦ .
√
T0 () (1 3 ) h− sin − cos − sin + cos 0i 1
N() = = √ 2 = √ h− sin − cos − sin + cos 0i, and the angle
|T0 ()| (1 3 ) 2 sin + cos 2 2
N() · k
made with the -axis is given by cos = = 0, so = 90 ◦ .
|N()| |k|
B() = T() × N() = √1
6
hsin − cos − sin − cos 2i and the angle made with the -axis is given by
√1
√
B() · k hsin − cos − sin − cos 2i · h0 0 1i
6 2 6
cos = = √ = √ or equivalently . Again the angle is
|B()| |k| √1 (sin − cos ) 2 + (− sin − cos )2 + 4 1 6 3
6
√
constant; specifically, = cos−1 (2 6) ≈ 353 ◦ .
58. If vectors T and B lie in the rectifying plane then N is a normal vector for the plane, as it is orthogonal to both T and B. The
√ √
point 22 22 1 corresponds to = 4, so we can take T0 (4) as a normal vector for the plane [since it is parallel to
N(4)]. r() = sin i + cos j + tan k ⇒ r0 () = cos i − sin j + sec2 k and
√ r0 () 1
|r0 ()| = cos2 + sin2 + sec4 = 1 + sec4 . Then T() = 0 = √ cos i − sin j + sec2 k . By
|r ()| 1 + sec4
Formula 3 of Theorem 13.2.3,
2 sec4 tan 1
T0 () = − cos i − sin j + sec2 k + √ − sin i − cos j + 2 sec2 tan k and
(1 + sec4 )32 4
1 + sec
√ √ √ √ √
0 2( 2 )4 (1) 2 2 √ 2 1 2 2 √ 2
T (4) = − √ i− j + ( 2) k + √ − i− j + 2( 2 ) (1) k
[1 + ( 2 )4 ]32 2 2 2 2
1 + ( 2 )4
√ √ √ √ √ √
8 2 2 1 2 2 13 2 3 2 4
=− √ i− j + 2k + √ − i− j + 4k = − √ i + √ j + √ k
5 5 2 2 5 2 2 10 5 10 5 5 5
√ √
We can take the parallel vector −13 2 i + 3 2 j + 8 k as a normal for the plane, so an equation for the plane is
√ √ √ √ √ √ √ √
−13 2 − 22 + 3 2 − 22 + 8 ( − 1) = 0 or −13 2 + 3 2 + 8 = −2 or 13 − 3 − 4 2 = 2.
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SECTION 13.3 ARC LENGTH AND CURVATURE ¤ 349
T T
T T |T| T T T
and N = , so N =
59. =
= = by the Chain Rule.
= =
|T| T
60. For a plane curve, T = |T| cos i + |T| sin j = cos i + sin j. Then
T T T
= = (− sin i + cos j) and = |− sin i + cos j| = . Hence for a plane
curve, the curvature is = ||.
B B
61. (a) |B| = 1 ⇒ B·B=1 ⇒ (B · B) = 0 ⇒ 2 ·B=0 ⇒ ⊥B
(b) B = T × N ⇒
B 1 1 1
= (T × N) = (T × N) = (T × N) 0 = [(T0 × N) + (T × N0 )] 0
|r ()| |r ()|
T0 1 T × N0 B
= T0 × 0 + (T × N0 ) 0
= ⇒ ⊥T
|T | |r ()| |r0 ()|
(c) B = T × N ⇒ T ⊥ N, B ⊥ T and B ⊥ N. So B, T and N form an orthogonal set of vectors in the three-
dimensional space R3 . From parts (a) and (b), B is perpendicular to both B and T, so B is parallel to N.
Therefore, B = − ()N, where () is a scalar.
(d) Since B = T × N, T ⊥ N and both T and N are unit vectors, B is a unit vector mutually perpendicular to both T and
N. For a plane curve, T and N always lie in the plane of the curve, so that B is a constant unit vector always
perpendicular to the plane. Thus B = 0, but B = − ()N and N 6= 0, so () = 0.
62. N = B × T ⇒
N B T
= (B × T) = ×T+B× [by Formula 5 of Theorem 13.2.3]
= − N × T + B × N [by Formulas 3 and 1]
= − (N × T) + (B × N) [by Property 2 of Theorem 12.4.11 ]
But B × N = B × (B × T) = (B · T) B − (B · B) T [by Property 6 of Theorem 12.4.11 ] = −T ⇒
N = (T × N) − T = − T + B.
T 0
63. (a) r0 = 0 T ⇒ r00 = 00 T + 0 T0 = 00 T + 0 = 00 T + (0 )2 N by the first Serret-Frenet formula.
(b) Using part (a), we have
r0 × r00 = (0 T) × [00 T + (0 )2 N]
= [(0 T) × (00 T)] + (0 T) × ((0 )2 N) [by Property 3 of Theorem 12.4.11 ]
= (0 00 )(T × T) + (0 )3 (T × N) = 0 + (0 )3 B = (0 )3 B
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350 ¤ CHAPTER 13 VECTOR FUNCTIONS
(c) Using part (a), we have
r000 = [00 T + (0 )2 N]0 = 000 T + 00 T0 + 0 (0 )2 N + 20 00 N + (0 )2 N0
T 0 N 0
= 000 T + 00 + 0 (0 )2 N + 20 00 N + (0 )2
= 000 T + 00 0 N + 0 (0 )2 N + 20 00 N + (0 )3 (− T + B) [by the second formula]
= [000 − 2 (0 )3 ] T + [30 00 + 0 (0 )2 ] N + (0 )3 B
(d) Using parts (b) and (c) and the facts that B · T = 0, B · N = 0, and B · B = 1, we get
(r0 × r00 ) · r000 (0 )3 B · [000 − 2 (0 )3 ] T + [30 00 + 0 (0 )2 ] N + (0 )3 B (0 )3 (0 )3
2 = 2 = = .
|r0 × r00 | |(0 )3 B| [(0 )3 ]2
64. First we find the quantities required to compute :
r0 () = h− sin cos i ⇒ r00 () = h− cos − sin 0i ⇒ r000 () = h sin − cos 0i
√
|r0 ()| = (− sin )2 + ( cos )2 + 2 = 2 + 2
i j k
r0 () × r00 () = − sin cos = sin i − cos j + 2 k
− cos − sin 0
√
|r0 () × r00 ()| = ( sin )2 + (− cos )2 + (2 )2 = 2 2 + 4
(r0 () × r00 ()) · r000 () = ( sin )( sin ) + (− cos )(− cos ) + (2 )(0) = 2
√ √
|r0 () × r00 ()| 2 2 + 4 2 + 2
Then by Theorem 10, () = 3 = √ 3 = √ 3 = 2 which is a constant.
0
|r ()| 2
+ 2 2
+ 2 + 2
(r0 × r00 ) · r000 2
From Exercise 63(d), the torsion is given by = 2 = √ 2 = 2 which is also a constant.
0
|r × r | 00 2 2
+ 4 + 2
65. r = 12 2 13 3 ⇒ r0 = 1 2 , r00 = h0 1 2i, r000 = h0 0 2i ⇒ r0 × r00 = 2 −2 1 ⇒
2
(r0 × r00 ) · r000 −2 1 · h0 0 2i 2
= = = 4
|r0 × r00 |2 4 + 42 + 1 + 42 + 1
66. r = hsinh cosh i ⇒ r0 = hcosh sinh 1i, r00 = hsinh cosh 0i, r000 = hcosh sinh 0i ⇒
r0 × r00 = − cosh sinh cosh2 − sinh2 = h− cosh sinh 1i ⇒
|r0 × r00 | |h− cosh sinh 1i| cosh2 + sinh2 + 1 1 1
= 3 = 3 = 32 = = ,
0
|r | |hcosh sinh 1i| cosh2 + sinh2 + 1 cosh2 + sinh2 + 1 2 cosh2
(r0 × r00 ) · r000 h− cosh sinh 1i · hcosh sinh 0i − cosh2 + sinh2 −1
= 2 = 2 2 = =
0
|r × r | 00 cosh + sinh + 1 2 cosh2 2 cosh2
So at the point (0 1 0), = 0, and = 1
2
and = − 12 .
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SECTION 13.4 MOTION IN SPACE: VELOCITY AND ACCELERATION ¤ 351
67. For one helix, the vector equation is r() = h10 cos 10 sin 34(2)i (measuring in angstroms), because the radius of each
helix is 10 angstroms, and increases by 34 angstroms for each increase of 2 in . Using the arc length formula, letting go
from 0 to 29 × 108 × 2, we find the approximate length of each helix to be
29×108 ×2 8
29×108 ×2 34 2 29×10 ×2
= |r0 ()| = (−10 sin )2 + (10 cos )2 + 34 2 = 100 +
0 0 2 2
0
34 2
= 29 × 108 × 2 100 + 2 ≈ 207 × 1010 Å — more than two meters!
0 if 0
68. (a) For the function () = () if 0 1 to be continuous, we must have (0) = 0 and (1) = 1.
1 if ≥ 1
For 0 to be continuous, we must have 0 (0) = 0 (1) = 0. The curvature of the curve = () at the point ( ())
| 00 ()|
is () = 32 . For () to be continuous, we must have (0) = (1) = 0.
00 00
1 + [ 0 ()]2
Write () = 5 + 4 + 3 + 2 + + . Then 0 () = 54 + 43 + 32 + 2 + and
00 () = 203 + 122 + 6 + 2. Our six conditions are:
(0) = 0 ⇒ =0 (1) (1) = 1 ⇒ +++++ = 1 (2)
0 (0) = 0 ⇒ =0 (3) 0 (1) = 0 ⇒ 5 + 4 + 3 + 2 + = 0 (4)
00 (0) = 0 ⇒ =0 (5) 00 (1) = 0 ⇒ 20 + 12 + 6 + 2 = 0 (6)
From (1), (3), and (5), we have = = = 0. Thus (2), (4) and (6) become (7) + + = 1, (8) 5 + 4 + 3 = 0,
and (9) 10 + 6 + 3 = 0. Subtracting (8) from (9) gives (10) 5 + 2 = 0. Multiplying (7) by 3 and subtracting from
(8) gives (11) 2 + = −3. Multiplying (11) by 2 and subtracting from (10) gives = 6. By (10), = −15.
By (7), = 10. Thus, () = 65 − 154 + 103 .
(b)
13.4 Motion in Space: Velocity and Acceleration
1. (a) If r() = () i + () j + () k is the position vector of the particle at time t, then the average velocity over the time
interval [0 1] is
r(1) − r(0) (45 i + 60 j + 30 k) − (27 i + 98 j + 37 k)
vave = = = 18 i − 38 j − 07 k
1−0 1
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352 ¤ CHAPTER 13 VECTOR FUNCTIONS
Similarly, over the other intervals we have
r(1) − r(05) (45 i + 60 j + 30 k) − (35 i + 72 j + 33 k)
[05 1] : vave = = = 20 i − 24 j − 06 k
1 − 05 05
r(2) − r(1) (73 i + 78 j + 27 k) − (45 i + 60 j + 30 k)
[1 2] : vave = = = 28 i + 18 j − 03 k
2−1 1
r(15) − r(1) (59 i + 64 j + 28 k) − (45 i + 60 j + 30 k)
[1 15] : vave = = = 28 i + 08 j − 04 k
15 − 1 05
(b) We can estimate the velocity at = 1 by averaging the average velocities over the time intervals [05 1] and [1 15]:
v(1) ≈ 12 [(2 i − 24 j − 06 k) + (28 i + 08 j − 04 k)] = 24 i − 08 j − 05 k. Then the speed is
|v(1)| ≈ (24)2 + (−08)2 + (−05)2 ≈ 258.
2. (a) The average velocity over 2 ≤ ≤ 24 is
r(24) − r(2)
= 25 [r(24) − r(2)], so we sketch a vector in the same
24 − 2
direction but 25 times the length of [r(24) − r(2)] .
(b) The average velocity over 15 ≤ ≤ 2 is
r(2) − r(15)
= 2[r(2) − r(15)], so we sketch a vector in the
2 − 15
same direction but twice the length of [r(2) − r(15)].
r(2 + ) − r(2)
(c) Using Equation 2 we have v(2) = lim .
→0
(d) v(2) is tangent to the curve at r(2) and points in the direction of
increasing . Its length is the speed of the particle at = 2. We can
estimate the speed by averaging the lengths of the vectors found in
parts (a) and (b) which represent the average speed over 2 ≤ ≤ 24 and
15 ≤ ≤ 2 respectively. Using the axes scale as a guide, we estimate the
vectors to have lengths 28 and 27. Thus, we estimate the speed at = 2
to be |v(2)| ≈ 12 (28 + 27) = 275 and we draw the velocity vector v(2)
with this length.
3. r() = − 12 2 ⇒ At = 2:
v() = r0 () = h− 1i v(2) = h−2 1i
a() = r00 () = h−1 0i a(2) = h−1 0i
√
|v()| = 2 + 1
Notice that = − 12 2 , so the path is a parabola.
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SECTION 13.4 MOTION IN SPACE: VELOCITY AND ACCELERATION ¤ 353
4. r() = 2 12 ⇒ At = 1:
v() = r0 () = 2 −23 v(1) = h2 −2i
a() = r00 () = 2 64 a(1) = h2 6i
|v()| = 42 + 46 = 2 2 + 16
Notice that = 1 and 0, so the path is part of the
hyperbola = 1.
5. r() = 3 cos i + 2 sin j ⇒ At = 3:
√
v() = −3 sin i + 2 cos j v 3 = − 3 2 3 i + j
√
a() = −3 cos i − 2 sin j a 3 = − 32 i − 3 j
|v()| = 9 sin2 + 4 cos2 = 5 sin2 + 4 sin2 + 4 cos2
= 4 + 5 sin2
Notice that 2 9 + 24 = sin2 + cos2 = 1, so the path is an ellipse.
6. r() = i + 2 j ⇒ At = 0:
v() = i + 22 j v(0) = i + 2 j
a() = i + 42 j a(0) = i + 4 j
√ √
|v()| = 2 + 44 = 1 + 42
2
Notice that = 2 = = 2 , so the particle travels along a parabola,
but = , so 0.
7. r() = i + 2 j + 2 k ⇒ At = 1:
v() = i + 2 j v(1) = i + 2 j
a() = 2 j a(1) = 2 j
√
|v()| = 1 + 42
Here = , = 2 ⇒ = 2 and = 2, so the path of the particle is a
parabola in the plane = 2.
8. r() = i + 2 cos j + sin k ⇒ At = 0:
v() = i − 2 sin j + cos k v(0) = i + k
a() = −2 cos j− sin k a(0) = −2 j
|v()| = 1 + 4 sin2 + cos2 = 2 + 3 sin2
Since 2 4 + 2 = 1, = , the path of the particle is an elliptical helix
about the -axis.
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354 ¤ CHAPTER 13 VECTOR FUNCTIONS
9. r() = 2 + 2 − 3 ⇒ v() = r0 () = 2 + 1 2 − 1 32 , a() = v0 () = h2 2 6i,
√
|v()| = (2 + 1)2 + (2 − 1)2 + (32 )2 = 94 + 82 + 2.
10. r() = h2 cos 3 2 sin i ⇒ v() = r0 () = h−2 sin 3 2 cos i, a() = v0 () = h−2 cos 0 −2 sin i,
√
|v()| = 4 sin2 + 9 + 4 cos2 = 13.
√ √
11. r() = 2 i + j + − k ⇒ v() = r0 () = 2 i + j − − k, a() = v0 () = j + − k,
√
|v()| = 2 + 2 + −2 = ( + − )2 = + − .
12. r() = 2 i + 2 j + ln k⇒ v() = r0 () = 2 i + 2 j + (1) k, a() = v0 () = 2 i − (12 ) k,
|v()| = 42 + 4 + (12 ) = [2 + (1)]2 = |2 + (1)|.
13. r() = hcos sin i ⇒
v() = r0 () = hcos sin i + h− sin cos 1i = hcos − sin sin + cos + 1i
a() = v0 () = hcos − sin − sin − cos sin + cos + cos − sin + 1 + 1i
= h−2 sin 2 cos + 2i
|v()| = cos2 + sin2 − 2 cos sin + sin2 + cos2 + 2 sin cos + 2 + 2 + 1
√
= 2 + 2 + 3
14. r() = 2 sin − cos cos + sin ⇒
v() = r0 () = h2 cos − (− sin + cos ) − sin + cos + sin i = h2 sin cos i,
a() = v0 () = h2 cos + sin − sin + cos i,
√ √ √
|v()| = 42 + 2 sin2 + 2 cos2 = 42 + 2 = 52 = 5 [since ≥ 0].
15. a() = 2 i + 2 k ⇒ v() = a() = (2 i + 2 k) = 2 i + 2 k + C. Then v(0) = C but we were given that
v(0) = 3 i − j, so C = 3 i − j and v() = 2 i + 2 k + 3 i − j = (2 + 3) i − j + 2 k.
r() = v() = (2 + 3) i − j + 2 k = (2 + 3) i − j + 13 3 k + D. Here r(0) = D and we were given that
1
r(0) = j + k, so D = j + k and r() = (2 + 3) i + (1 − ) j + 3
3 + 1 k.
16. a() = sin i + 2 cos j + 6 k ⇒ v() = a() = (sin i + 2 cos j + 6 k) = − cos i + 2 sin j + 32 k + C.
Then v(0) = −i + C but we were given that v(0) = −k, so −i + C = −k ⇒ C=i−k
and v() = (1 − cos ) i + 2 sin j + (32 − 1) k.
r() = v() = (1 − cos ) i + 2 sin j + (32 − 1) k = ( − sin ) i − 2 cos j + (3 − ) k + D. Here
r(0) = −2 j + D and we were given that r(0) = j − 4 k, so D = 3 j − 4 k and
r() = ( − sin ) i + (3 − 2 cos ) j + (3 − − 4) k.
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SECTION 13.4 MOTION IN SPACE: VELOCITY AND ACCELERATION ¤ 355
17. (a) a() = 2 i + sin j + cos 2 k ⇒ (b)
v() = (2 i + sin j + cos 2 k) = 2 i − cos j + 1
2
sin 2 k + C
and i = v (0) = −j + C, so C = i + j
and v() = 2 + 1 i + (1 − cos ) j + 1
2
sin 2 k.
r() = [ 2 + 1 i + (1 − cos ) j + 12 sin 2 k]
= 13 3 + i + ( − sin ) j − 14 cos 2 k + D
1
But j = r (0) = − 14 k + D, so D = j + 1
4 k and r() = 3
3
+ i + ( − sin + 1) j + 14 − 1
4 cos 2 k.
18. (a) a() = i + j + − k ⇒ (b)
v () = i + j + k = 12 2 i + j − − k + C
−
and k = v (0) = j − k + C, so C = −j + 2 k
and v() = 12 2 i + − 1 j + 2 − − k.
1
r() = 2
2 i + ( − 1) j + (2 − − ) k
= 16 3 i + ( − ) j + (− + 2) k + D
But j + k = r(0) = j + k + D, so D = 0 and r() = 16 3 i + ( − ) j + (− + 2) k
√ √
19. r() = 2 5 2 − 16 ⇒ v() = h2 5 2 − 16i, |v()| = 42 + 25 + 42 − 64 + 256 = 82 − 64 + 281
and |v()| = 12 (82 − 64 + 281)−12 (16 − 64). This is zero if and only if the numerator is zero, that is,
√
16 − 64 = 0 or = 4. Since |v()| 0 for 4 and |v()| 0 for 4, the minimum speed of 153 is attained
at = 4 units of time.
20. Since r() = 3 i + 2 j + 3 k, a() = r00 () = 6 i + 2 j + 6 k. By Newton’s Second Law,
F() = a() = 6 i + 2 j + 6 k is the required force.
21. |F()| = 20 N in the direction of the positive -axis, so F() = 20 k. Also = 4 kg, r(0) = 0 and v(0) = i − j.
Since 20k = F() = 4 a(), a() = 5 k. Then v() = 5 k + c1 where c1 = i − j so v() = i − j + 5 k and the
√ √
speed is |v()| = 1 + 1 + 252 = 252 + 2. Also r() = i − j + 52 2 k + c2 and 0 = r(0), so c2 = 0
and r() = i − j + 52 2 k.
22. The argument here is the same as that in Example 13.2.4 with r() replaced by v() and r0 () replaced by a().
23. |v(0)| = 200 ms and, since the angle of elevation is 60◦ , a unit vector in the direction of the velocity is
√ √ √
(cos 60◦ )i + (sin 60◦ )j = 12 i + 2
3
j. Thus v(0) = 200 12 i + 2
3
j = 100 i + 100 3 j and if we set up the axes so that the
projectile starts at the origin, then r(0) = 0. Ignoring air resistance, the only force is that due to gravity, so
F() = a() = − j where ≈ 98 ms2 . Thus a() = −98 j and, integrating, we have v() = −98 j + C. But
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356 ¤ CHAPTER 13 VECTOR FUNCTIONS
√ √
100 i + 100 3 j = v(0) = C, so v() = 100 i + 100 3 − 98 j and then (integrating again)
√
r() = 100 i + 100 3 − 492 j + D where 0 = r(0) = D. Thus the position function of the projectile is
√
r() = 100 i + 100 3 − 492 j.
√
(a) Parametric equations for the projectile are () = 100, () = 100 3 − 492 . The projectile reaches the ground when
√ √ √
() = 0 (and 0) ⇒ 100 3 − 492 = 100 3 − 49 = 0 ⇒ = 100 3
49
≈ 353 s. So the range is
√ √
100
49
3
= 100 100
49
3
≈ 3535 m.
(b) The maximum height is reached when () has a critical number (or equivalently, when the vertical component
√ √
of velocity is 0): 0 () = 0 ⇒ 100 3 − 98 = 0 ⇒ = 100 3
98 ≈ 177 s. Thus the maximum height is
√ √ 100√3 √ 2
100 3
98
= 100 3 98
− 49 100
98
3
≈ 1531 m.
√
(c) From part (a), impact occurs at = 100 3
49
s. Thus, the velocity at impact is
√ √ √ √
v 100 3
49
= 100 i + 100 3 − 98 100
49
3
j = 100 i − 100 3 j and the speed is
√ √
3
v 100
49 = 10,000 + 30,000 = 200 ms.
√ √
24. As in Exercise 23, v() = 100 i + 100 3 − 98 j and r() = 100 i + 100 3 − 492 j + D.
√
But r(0) = 100 j, so D = 100 j and r() = 100 i + 100 + 100 3 − 492 j.
√ √
(a) = 0 ⇒ 100 + 100 3 − 492 = 0 or 492 − 100 3 − 100 = 0. From the quadratic formula we have
√ √ √ √
100 3 ± (−100 3 )2 − 4(49)(−100) 100 3 ± 31,960
= = . Taking the positive -value gives
2(49) 98
√ √ √ √
100 3 + 31,960 100 3 + 31,960
= 98
≈ 359 s. Thus the range is = 100 · 98
≈ 3592 m.
√ √
(b) The maximum height is attained when = 0 ⇒ 100 3 − 98 = 0 ⇒ = 100 3
98 ≈ 177 s and the
√ √3 √ 2
maximum height is 100 + 100 3 100
98
− 49 100 3
98
≈ 1631 m.
Alternate solution: Because the projectile is fired in the same direction and with the same velocity as in Exercise 23,
but from a point 100 m higher, the maximum height reached is 100 m higher than that found in Exercise 23, that is,
1531 m + 100 m = 1631 m.
√ √
100 3 + 31,960
(c) From part (a), impact occurs at = 98 s. Thus the velocity at impact is
√ √ √ √ √ √
100 3 + 31,960
v 98
= 100 i + 100 3 − 98 100 3 +
98
31,960
j = 100 i − 31,960 j and the speed is
√ √
|v| = 10,000 + 31,960 = 41,960 ≈ 205 ms.
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SECTION 13.4 MOTION IN SPACE: VELOCITY AND ACCELERATION ¤ 357
√ √
25. As in Example 5, r() = (0 cos 45◦ ) i + (0 sin 45◦ ) − 12 2 j = 1
2
0 2 i + 0 2 − 2 j . The ball lands when
√ √
0 2 √ 0 2
= 0 (and 0) ⇒ = s. Now since it lands 90 m away, 90 = = 2 0 2
1
or 02 = 90 and the initial
√
velocity is 0 = 90 ≈ 30 ms.
26. Let be the angle of elevation. Here 0 = 400 ms and from Example 5, the horizontal distance traveled by the projectile is
02 sin 2 4002 sin 2 3000
= . We want = 3000 ⇒ sin 2 = ≈ 01838 ⇒ 2 ≈ sin−1 (01838) ≈ 106◦ or
4002
2 ≈ 180◦ − 106◦ = 1694◦ . Thus two angles of elevation are ≈ 53◦ and ≈ 847◦ .
27. As in Example 5, r() = (0 cos 36◦ ) i + (0 sin 36◦ ) − 12 2 j and then
v() = r0 () = (0 cos 36◦ ) i + [(0 sin 36◦ ) − ] j. The shell reaches its maximum height when the vertical component of
0 sin 36◦
velocity is zero, so (0 sin 36◦ ) − = 0 ⇒ = . The vertical height of the shell at that time is 1600 ft, so
2
0 sin 36◦ 0 sin 36◦ 02 sin2 36◦ 1 02 sin2 36◦
(0 sin 36◦ ) − 12 = 1600 ⇒ − = 1600 ⇒
2
02 sin2 36◦ 1600(2) 3200 3200(32)
= 1600 ⇒ 02 = ⇒ 0 = ≈ ≈ 544 fts.
2 sin2 36◦ sin2 36◦ sin 36◦
28. Here 0 = 115 fts, the angle of elevation is = 50◦ , and if we place the origin at home plate, then r(0) = 3 j.
As in Example 5, we have r () = − 12 2 j + v0 + D where D = r(0) = 3 j and v0 = 0 cos i + 0 sin j,
so r() = (0 cos ) i + (0 sin ) − 12 2 + 3 j. Thus, parametric equations for the trajectory of the ball are
= (0 cos ), = (0 sin ) − 12 2 + 3. The ball reaches the fence when = 400 ⇒
400 400
(0 cos ) = 400 ⇒ = = ≈ 541 s. At this time, the height of the ball is
0 cos 115 cos 50◦
= (0 sin ) − 12 2 + 3 ≈ (115 sin 50◦ )(541) − 12 (32)(541)2 + 3 ≈ 112 ft. Since the fence is 10 ft high, the ball
clears the fence.
29. Place the catapult at the origin and assume the catapult is 100 meters from the city, so the city lies between (100 0)
and (600 0). The initial speed is 0 = 80 ms and let be the angle the catapult is set at. As in Example 5, the trajectory of
the catapulted rock is given by r () = (80 cos ) i + (80 sin ) − 492 j. The top of the near city wall is at (100 15),
5
which the rock will hit when (80 cos ) = 100 ⇒ = and (80 sin ) − 492 = 15 ⇒
4 cos
2
5 5
80 sin · − 49 = 15 ⇒ 100 tan − 765625 sec2 = 15. Replacing sec2 with tan2 + 1 gives
4 cos 4 cos
765625 tan2 − 100 tan + 2265625 = 0. Using the quadratic formula, we have tan ≈ 0230635, 128306 ⇒
≈ 130◦ , 855◦ . So for 130◦ 855◦ , the rock will land beyond the near city wall. The base of the far wall is
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358 ¤ CHAPTER 13 VECTOR FUNCTIONS
15
located at (600 0) which the rock hits if (80 cos ) = 600 ⇒ = and (80 sin ) − 492 = 0 ⇒
2 cos
2
15 15
80 sin · − 49 = 0 ⇒ 600 tan − 275625 sec2 = 0 ⇒
2 cos 2 cos
275625 tan2 − 600 tan + 275625 = 0. Solutions are tan ≈ 0658678, 151819 ⇒ ≈ 334◦ , 566◦ . Thus the
rock lands beyond the enclosed city ground for 334◦ 566◦ , and the angles that allow the rock to land on city ground
are 130◦ 334◦ , 566◦ 855◦ . If you consider that the rock can hit the far wall and bounce back into the city, we
15
calculate the angles that cause the rock to hit the top of the wall at (600 15): (80 cos ) = 600 ⇒ = and
2 cos
(80 sin ) − 492 = 15 ⇒ 600 tan − 275625 sec2 = 15 ⇒ 275625 tan2 − 600 tan + 290625 = 0.
Solutions are tan ≈ 0727506, 144936 ⇒ ≈ 360◦ , 554◦ , so the catapult should be set with angle where
130◦ 360◦ , 554◦ 855◦ .
30. If we place the projectile at the origin then, as in Example 5, r() = (0 cos ) i + (0 sin ) − 12 2 j and
v() = (0 cos ) i + [(0 sin ) − ] j. The maximum height is reached when the vertical component of velocity is zero, so
0 sin
(0 sin ) − = 0 ⇒ = , and the corresponding height is the vertical component of the position function:
2
0 sin 0 sin 1 2 2
(0 sin ) − 12 2 = (0 sin ) − 12 = sin
2 0
0 sin
Half that time is = , when the height of the projectile is
2
2
0 sin 0 sin
(0 sin ) − 12 2 = (0 sin ) − 12
2 2
1 2 2 1 2 2 3 2 2 3 1 2 2
= sin − sin = sin = sin
2 0 8 0 8 0 4 2 0
or three-quarters of the maximum height.
31. Here a() = −4 j − 32 k so v() = −4 j − 32 k + v0 = −4 j − 32 k + 50 i + 80 k = 50 i − 4 j + (80 − 32) k and
r() = 50 i − 22 j + (80 − 162 ) k (note that r0 = 0). The ball lands when the -component of r() is zero
and 0: 80 − 162 = 16(5 − ) = 0 ⇒ = 5. The position of the ball then is
r(5) = 50(5) i − 2(5)2 j + [80(5) − 16(5)2 ] k = 250 i − 50 j or equivalently the point (250 −50 0). This is a distance of
√ 50
2502 + (−50)2 + 02 = 65,000 ≈ 255 ft from the origin at an angle of tan−1 250 ≈ 113◦ from the eastern direction
√
toward the south. The speed of the ball is |v(5)| = |50 i − 20 j − 80 k| = 502 + (−20)2 + (−80)2 = 9300 ≈ 964 ft/s.
32. Place the ball at the origin and consider j to be pointing in the northward direction with i pointing east and k pointing
upward. Force = mass × acceleration ⇒ acceleration = forcemass, so the wind applies a constant acceleration of
4 N08 kg = 5 ms2 in the easterly direction. Combined with the acceleration due to gravity, the acceleration acting on the
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SECTION 13.4 MOTION IN SPACE: VELOCITY AND ACCELERATION ¤ 359
ball is a() = 5 i − 98 k. Then v() = a() = 5 i − 98 k + C where C is a constant vector.
√ √
We know v(0) = C = −30 cos 30◦ j + 30 sin 30◦ k = −15 3 j + 15 k ⇒ C = −15 3 j + 15 k and
√ √
v() = 5 i − 15 3 j + (15 − 98) k. r() = v() = 252 i − 15 3 j + 15 − 492 k + D but r(0) = D = 0
√
so r() = 252 i − 15 3 j + 15 − 492 k. The ball lands when 15 − 492 = 0 ⇒ = 0, = 1549 ≈ 30612 s,
so the ball lands at approximately r(30612) ≈ 2343 i − 7953 j which is 82.9 m away in the direction S 16.4◦ E. Its speed is
√
approximately |v(30612)| ≈ 15306 i − 15 3 j − 15 k ≈ 3368 ms.
33. (a) After seconds, the boat will be 5 meters west of point . The velocity
of the water at that location is 3
400
(5)(40 − 5) j. The velocity of the
boat in still water is 5 i so the resultant velocity of the boat is
3 2
v() = 5 i + 4003
(5)(40 − 5) j = 5i + 32 − 16 j. Integrating, we obtain
r() = 5 i + 34 2 − 16 1 3
j + C. If we place the origin at (and consider j
to coincide with the northern direction) then r(0) = 0 ⇒ C = 0 and we have r() = 5 i + 34 2 − 16 j. The boat
1 3
reaches the east bank after 8 s, and it is located at r(8) = 5(8)i + 34 (8)2 − 16
1
(8)3 j = 40 i + 16 j. Thus the boat is 16 m
downstream.
(b) Let be the angle north of east that the boat heads. Then the velocity of the boat in still water is given by
5(cos ) i + 5(sin ) j. At seconds, the boat is 5(cos ) meters from the west bank, at which point the velocity
of the water is 3
400
− 5(cos )] j. The resultant velocity of the boat is given by
[5(cos )][40
3 2
v() = 5(cos ) i + 5 sin + 3
400
(5 cos )(40 − 5 cos ) j = (5 cos ) i + 5 sin + 32 cos − 16 cos2 j.
Integrating, r() = (5 cos ) i + 5 sin + 34 2 cos − 16
1 3
cos2 j (where we have again placed
40 8
the origin at ). The boat will reach the east bank when 5 cos = 40 ⇒ = = .
5 cos cos
In order to land at point (40 0) we need 5 sin + 34 2 cos − 1 3
16 cos2 = 0 ⇒
2 3
8 8 8 1
5 sin + 34 cos − 1
16
cos2 = 0 ⇒ (40 sin + 48 − 32) = 0 ⇒
cos cos cos cos
40 sin + 16 = 0 ⇒ sin = − 25 . Thus = sin−1 − 25 ≈ −236◦ , so the boat should head 236◦ south of
east (upstream). The path does seem realistic. The boat initially heads
upstream to counteract the effect of the current. Near the center of the river,
the current is stronger and the boat is pushed downstream. When the boat
nears the eastern bank, the current is slower and the boat is able to progress
upstream to arrive at point .
34. As in Exercise 33(b), let be the angle north of east that the boat heads, so the velocity of the boat in still water is given
by 5(cos ) i + 5(sin ) j. At seconds, the boat is 5(cos ) meters from the west bank, at which point the velocity
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360 ¤ CHAPTER 13 VECTOR FUNCTIONS
of the water is 3 sin(40) j = 3 sin[ · 5(cos )40] j = 3 sin 8 cos j. The resultant velocity of the boat
then is given by v() = 5(cos ) i + 5 sin + 3 sin 8 cos j. Integrating,
24
r () = (5 cos ) i + 5 sin − cos 8 cos j + C.
cos
24 24
If we place the origin at then r(0) = 0 ⇒ − j+C =0 ⇒ C= j and
cos cos
24 24
r() = (5 cos ) i + 5 sin − cos 8 cos + j. The boat will reach the east bank when
cos cos
8
5 cos = 40 ⇒ = . In order to land at point (40 0) we need
cos
24 24
5 sin − cos 8 cos + =0 ⇒
cos cos
8 24 8 24 1 24 24
5 sin − cos cos + =0 ⇒ 40 sin − cos + =0 ⇒
cos cos 8 cos cos cos
48 6 6
40 sin + = 0 ⇒ sin = − . Thus = sin−1 − ≈ −225◦ , so the boat should head 225◦ south of east.
5 5
35. If r0 () = c × r() then r0 () is perpendicular to both c and r(). Remember that r0 () points in the direction of motion, so if
r0 () is always perpendicular to c, the path of the particle must lie in a plane perpendicular to c. But r0 () is also perpendicular
to the position vector r() which confines the path to a sphere centered at the origin. Considering both restrictions, the path
must be contained in a circle that lies in a plane perpendicular to c, and the circle is centered on a line through the origin in the
direction of c.
36. (a) From Equation 7 we have a = 0 T + 2 N. If a particle moves along a straight line, then = 0 [see Section 13.3], so the
acceleration vector becomes a = 0 T. Because the acceleration vector is a scalar multiple of the unit tangent vector, it is
parallel to the tangent vector.
(b) If the speed of the particle is constant, then 0 = 0 and Equation 7 gives a = 2 N. Thus the acceleration vector is
parallel to the unit normal vector (which is perpendicular to the tangent vector and points in the direction that the curve is
turning).
37. r() = (2 + 1) i + 3 j ⇒ r0 () = 2 i + 32 j,
√ √
|r0 ()| = (2)2 + (32 )2 = 42 + 94 = 4 + 92 [since ≥ 0], r00 () = 2 i + 6 j, r0 () × r00 () = 62 k.
r0 () · r00 () (2)(2) + (32 )(6) 4 + 183 4 + 182
Then Equation 9 gives = = √ = √ = √
|r0 ()| 4 + 92 4 + 92 4 + 92
12
√ −12
or by Equation 8, = 0 = 4 + 92 = · 12 4 + 92 (18) + 4 + 92 ·1
−12 √
= 4 + 92 92 + 4 + 92 = (4 + 182 ) 4 + 92
|r0 () × r00 ()| 62 6
and Equation 10 gives = 0
= √ = √ .
|r ()| 4 + 92 4 + 92
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SECTION 13.4 MOTION IN SPACE: VELOCITY AND ACCELERATION ¤ 361
2
38. r() = 22 i + − 2 j ⇒ r0 () = 4 i + (22 − 2) j,
3
3
√
|r0 ()| = 162 + (22 − 2)2 = 44 + 82 + 4 = 4 (2 + 1)2 = 2(2 + 1),
r00 () = 4 i + 4 j, r0 () × r00 () = (82 + 8) k. Then Equation 9 gives
r0 () · r00 () (4)(4) + (22 − 2)(4) 8(2 + 1) 2
= = = = 4 or by Equation 8, = 0
= 2( + 1) = 4
|r0 ()| 2(2 + 1) 2(2 + 1)
|r0 () × r00 ()| 8(2 + 1)
and Equation 10 gives = 0
= = 4.
|r ()| 2(2 + 1)
√
39. r() = cos i + sin j + k ⇒ r0 () = − sin i + cos j + k, |r0 ()| = sin2 + cos2 + 1 = 2,
r00 () = − cos i − sin j, r0 () × r00 () = sin i − cos j + k.
√
r0 () · r00 () sin cos − sin cos |r0 () × r00 ()| sin2 + cos2 + 1 2
Then = 0
= √ = 0 and = = √ = √ = 1.
|r ()| 2 |r0 ()| 2 2
√
40. r() = i + 2 j + 2 k ⇒ r0 () = i + 2 j + 22 k, |r0 ()| = 1 + 42 + 44 = (1 + 22 )2 = 1 + 22 ,
r00 () = 2 j + 42 k, r0 () × r00 () = 43 i − 42 j + 2 k,
√
|r0 () × r00 ()| = 166 + 164 + 42 = 42 (22 + 1)2 = 2 (22 + 1). Then
r0 () · r00 () 42 + 84 42 (1 + 22 ) 2 |r0 () × r00 ()| 2 (22 + 1)
= = = = 4 and = = = 2 .
|r0 ()| 1 + 22 1 + 22 |r0 ()| 1 + 22
√ √
41. r() = ln i + (2 + 3) j + 4 k ⇒ r0 () = (1) i + (2 + 3) j + (2 ) k ⇒
r00 () = (−12 ) i + 2 j − (132 ) k. The point (0 4 4) corresponds to = 1, where
r0 (1) = i + 5 j + 2 k, r00 (1) = −i + 2 j − k, and r0 (1) × r00 (1) = −9 i − j + 7 k. Thus at the point (0 4 4),
√
r0 (1) · r00 (1) −1 + 10 − 2 7 |r0 (1) × r00 (1)| 81 + 1 + 49 131
= = √ = √ and = = √ = .
|r0 (1)| 1 + 25 + 4 30 |r0 (1)| 30 30
42. r() = −1 i + −2 j + −3 k ⇒ r0 () = −−2 i − 2−3 j − 3−4 k ⇒ r00 () = 2−3 i + 6−4 j + 12−5 k. The
point (1 1 1) corresponds to = 1, where r0 (1) = −i − 2 j − 3 k, r00 (1) = 2 i + 6 j + 12 k, and
r0 (1) · r00 (1) −2 − 12 − 36 50
r0 (1) × r00 (1) = −6 i + 6 j − 2 k. Thus at the point (1 1 1), = = √ = −√ and
|r0 (1)| 1+4+9 14
√
|r0 (1) × r00 (1)| 36 + 36 + 4 76 38
= = √ = = .
|r0 (1)| 14 14 7
43. The tangential component of a is the length of the projection of a onto T, so we sketch
the scalar projection of a in the tangential direction to the curve and estimate its length to
be 45 (using the fact that a has length 10 as a guide). Similarly, the normal component of
a is the length of the projection of a onto N, so we sketch the scalar projection of a in the
normal direction to the curve and estimate its length to be 90. Thus ≈ 45 cms2 and
≈ 90 cms2 .
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362 ¤ CHAPTER 13 VECTOR FUNCTIONS
44. L() = r() × v() ⇒
L0 () = [r0 () × v() + r () × v0 ()] [by Formula 5 of Theorem 13.2.3]
0
= [v() × v() + r() × v ()] = [0 + r() × a ()] = ()
So if the torque is always 0, then L0 () = 0 for all , and so L() is constant.
45. If the engines are turned off at time , then the spacecraft will continue to travel in the direction of v(), so we need a such
1 8
that for some scalar 0, r() + v() = h6 4 9i. v() = r0 () = i + j+ 2 k ⇒
( + 1)2
4 8
r() + v() = 3 + + 2 + ln + 7 − 2 + 2 ⇒ 3 + + = 6 ⇒ = 3 − ,
+1 ( + 1)2
4 8(3 − ) 24 − 122 − 4
so 7 − + 2 =9 ⇔ = 2 ⇔ 4 + 82 − 12 + 3 = 0.
2 +1 ( + 1)2 (2 + 1)2
3−1
It is easily seen that = 1 is a root of this polynomial. Also 2 + ln 1 + = 4, so = 1 is the desired solution.
1
v v 1
46. (a) = v =
⇔ v . Integrating both sides of this equation with respect to gives
v() ()
v 1
= v ⇒ v = v [Substitution Rule] ⇒
0 0 v(0) (0)
() (0)
v() − v(0) = ln v ⇒ v() = v(0) − ln v .
(0) ()
(0)
(b) |v()| = 2 |v |, and |v(0)| = 0. Therefore, by part (a), 2 |v | = − ln v ⇒
()
(0) (0)
2 |v | = ln |v |. Note: (0) () so that ln 0 ⇒ () = −2 (0).
() ()
(0) − −2 (0)
Thus = 1 − −2 is the fraction of the initial mass that is burned as fuel.
(0)
APPLIED PROJECT Kepler's Laws
1. With r = ( cos ) i + ( sin ) j and h = k where 0,
(a) h = r × r0 = [( cos ) i + ( sin ) j] × 0 cos − sin i + 0 sin + cos j
= 0 cos sin + 2 cos2 − 0 cos sin + 2 sin2 k = 2 k
(b) Since h = k, 0, = |h|. But by part (a), = |h| = 2 ().
(c) () = 1
2 0
|r|2 = 1
2 0
2 () in polar coordinates. Thus, by the Fundamental Theorem of Calculus,
2
= .
2
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CHAPTER 13 REVIEW ¤ 363
2
(d) = = = constant since h is a constant vector and = |h|.
2 2
2. (a) Since = 1
2 , a constant, () = 12 + 1 . But (0) = 0, so () = 12 . But ( ) = area of the ellipse =
and ( ) = 12 , so = 2.
(b) 2( ) = where is the eccentricity of the ellipse. But = (1 − 2 ) or = (1 − 2 ) and 1 − 2 = 22 .
Hence 2( ) = = 2.
42 2 42 3
(c) 2 = 2
= 42 2 2 2
= .
4 2 3 seconds
3. From Problem 2, 2 = . ≈ 36525 days × 24 · 602 ≈ 31558 × 107 seconds. Therefore
day
2 (667 × 10−11 )(199 × 1030 )(31558 × 107 )2
3 = ≈ ≈ 3348 × 1033 m3 ⇒ ≈ 1496 × 1011 m. Thus, the
42 42
length of the major axis of the earth’s orbit (that is, 2) is approximately 299 × 1011 m = 299 × 108 km.
2 42 3
4. We can adapt the equation = from Problem 2(c) with the earth at the center of the system, so is the period of the
satellite’s orbit about the earth, is the mass of the earth, and is the length of the semimajor axis of the satellite’s orbit
(measured from the earth’s center). Since we want the satellite to remain fixed above a particular point on the earth’s equator,
must coincide with the period of the earth’s own rotation, so = 24 h = 86,400 s. The mass of the earth is
13 13
2 (86,400)2 (667 × 10−11 )(598 × 1024 )
= 598 × 1024 kg, so = ≈ ≈ 423 × 107 m. If we
42 42
assume a circular orbit, the radius of the orbit is , and since the radius of the earth is 637 × 106 m, the required altitude
above the earth’s surface for the satellite is 423 × 107 − 637 × 106 ≈ 359 × 107 m, or 35,900 km.
13 Review
1. True. If we reparametrize the curve by replacing = 3 , we have r() = i + 2 j + 3 k, which is a line through the origin
with direction vector i + 2 j + 3 k.
2. True. Parametric equations for the curve are = 0, = 2 , = 4, and since = 4 we have = 2 = (4)2 or
16 ,
1 2
= = 0. This is an equation of a parabola in the -plane.
3. False. The vector function represents a line, but the line does not pass through the origin; the -component is 0 only for = 0
which corresponds to the point (0 3 0) not (0 0 0).
4. True. See Theorem 13.2.2.
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364 ¤ CHAPTER 13 VECTOR FUNCTIONS
5. False. By Formula 5 of Theorem 13.2.3, [u() × v()] = u0 () × v() + u() × v0 ().
6. False. For example, let r() = hcos sin i. Then |r()| = cos2 + sin2 = 1 ⇒ |r()| = 0, but
|r0 ()| = |h− sin cos i| = (− sin )2 + cos2 = 1.
7. False. is the magnitude of the rate of change of the unit tangent vector T with respect to arc length , not with respect to .
8. False. The binormal vector, by the definition given in Section 13.3, is B() = T() × N() = − [N() × T()].
9. True. At an inflection point where is twice continuously differentiable we must have 00 () = 0, and by Equation 13.3.11,
the curvature is 0 there.
10. True. From Equation 13.3.9 , () = 0 ⇔ |T0 ()| = 0 ⇔ T0 () = 0 for all . But then T() = C, a constant vector,
which is true only for a straight line.
11. False. If r() is the position of a moving particle at time and |r()| = 1 then the particle lies on the unit circle or the unit
√
sphere, but this does not mean that the speed |r0 ()| must be constant. As a counterexample, let r() = 1 − 2 , then
√ √ √
r0 () = 1 − 1 − 2 and |r()| = 2 + 1 − 2 = 1 but |r0 ()| = 1 + 2 (1 − 2 ) = 1 1 − 2 which is not
constant.
12. True. See Example 4 in Section 13.2 .
13. True. See the discussion preceding Example 7 in Section 13.3.
14. False. For example, r1 () = h i and r2 () = h2 2i both represent the same plane curve (the line = ), but the tangent
vector r01 () = h1 1i for all , while r02 () = h2 2i. In fact, different parametrizations give parallel tangent vectors at a point,
but their magnitudes may differ.
1. (a) The corresponding parametric equations for the curve are = ,
= cos , = sin . Since 2 + 2 = 1, the curve is contained in a
circular cylinder with axis the -axis. Since = , the curve is a helix.
(b) r() = i + cos j + sin k ⇒
r0 () = i − sin j + cos k ⇒
r00 () = −2 cos j − 2 sin k
√
2. (a) The expressions 2 − , ( − 1), and ln( + 1) are all defined when 2 − ≥ 0 ⇒ ≤ 2, 6= 0,
and + 1 0 ⇒ −1. Thus the domain of r is (−1 0) ∪ (0 2].
√ − 1 √
(b) lim r() = lim 2 − lim lim ln( + 1) = 2 − 0 lim ln(0 + 1)
→0 →0 →0 →0 →0 1
√
= 2 1 0 [using l’Hospital’s Rule in the -component]
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CHAPTER 13 REVIEW ¤ 365
√ − 1 1 − + 1 1
(c) r0 () = 2 − ln( + 1) = − √
2 2− 2 +1
3. The projection of the curve of intersection onto the -plane is the circle 2 + 2 = 16 = 0. So we can write
= 4 cos , = 4 sin , 0 ≤ ≤ 2. From the equation of the plane, we have = 5 − = 5 − 4 cos , so parametric
equations for are = 4 cos , = 4 sin , = 5 − 4 cos , 0 ≤ ≤ 2, and the corresponding vector function is
r() = 4 cos i + 4 sin j + (5 − 4 cos ) k, 0 ≤ ≤ 2.
4. The curve is given by r() = h2 sin 2 sin 2 2 sin 3i, so
√
r0 () = h2 cos 4 cos 2 6 cos 3i. The point 1 3 2 corresponds to = 6
√
(or 6 + 2, an integer), so the tangent vector there is r0 ( 6 ) = 3 2 0 .
√
Then the tangent line has direction vector 3 2 0 and includes the point
√ √ √
1 3 2 , so parametric equations are = 1 + 3 , = 3 + 2, = 2.
1
1 1 1
5. 0
(2 i + cos j + sin k) = 2 i + 0 cos j + 0 sin k
0
1 1 1 1
= 13 3 0 i + sin 0 − 0 1 sin j + − 1 cos 0 k
1
1
1 2 1 2 2
= 3
i+ 2
cos 0 j +
k= 3
i− 2
j+
k
where we integrated by parts in the -component.
6. (a) intersects the -plane where = 0 ⇒ 2 − 1 = 0 ⇒ = 12 , so the point
3
is 2 − 12 0 ln 12 = 15
8
0 − ln 2 .
(b) The curve is given by r() = 2 − 3 2 − 1 ln , so r0 () = −32 2 1 . The point (1 1 0) corresponds to = 1, so
the tangent vector there is r0 (1) = h−3 2 1i. Then the tangent line has direction vector h−3 2 1i and includes the point
(1 1 0), so parametric equations are = 1 − 3, = 1 + 2, = .
(c) The normal plane has normal vector r0 (1) = h−3 2 1i and equation −3( − 1) + 2( − 1) + = 0 or 3 − 2 − = 1.
√
7. r() = 2 3 4 ⇒ r0 () = 2 32 43 ⇒ |r0 ()| = 42 + 94 + 166 and
3 3√ √
= 0
|r0 ()| = 0
42 + 94 + 166 . Using Simpson’s Rule with () = 42 + 94 + 166 and = 6 we
have ∆ = 3−0
6
= 1
2
and
∆
≈ 3
(0) + 4 12 + 2 (1) + 4 32 + 2 (2) + 4 52 + (3)
√ 2 4 6
= 16 0 + 0 + 0 + 4 · 4 12 + 9 12 + 16 12 + 2 · 4(1)2 + 9(1)4 + 16(1)6
4 6
2
+4· 4 32 + 9 32 + 16 32 + 2 · 4(2)2 + 9(2)4 + 16(2)6
2 4 6
+ 4 · 4 52 + 9 52 + 16 52 + 4(3)2 + 9(3)4 + 16(3)6
≈ 86631
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366 ¤ CHAPTER 13 VECTOR FUNCTIONS
√
8. r0 () = 312 −2 sin 2 2 cos 2 , |r0 ()| = 9 + 4(sin2 2 + cos2 2) = 9 + 4.
1√ 13 13
Thus = 0
9 + 4 = 4 19 12 = 1
9
· 23 32 = 2
27
(1332 − 8).
4
9. The angle of intersection of the two curves, , is the angle between their respective tangents at the point of intersection.
For both curves the point (1 0 0) occurs when = 0.
r01 () = − sin i + cos j + k ⇒ r01 (0) = j + k and r02 () = i + 2 j + 32 k ⇒ r02 (0) = i.
r01 (0) · r02 (0) = (j + k) · i = 0. Therefore, the curves intersect in a right angle, that is, = 90◦ .
10. The parametric value corresponding to the point (1 0 1) is = 0.
√
r0 () = i + (cos + sin ) j + (cos − sin ) k ⇒ |r0 ()| = 1 + (cos + sin )2 + (cos − sin )2 = 3
√ √
and () = 0 3 = 3( − 1) ⇒ = ln 1 + √13 .
Therefore, r(()) = 1 + √1
3
i+ 1+ √1
3
sin ln 1 + 1
√
3
j+ 1+ √1
3
cos ln 1 + 1
√
3
k.
11. (a) r() = sin3 cos3 sin2 ⇒ r0 () = 3 sin2 cos −3 cos2 sin 2 sin cos ,
|r0 ()| = 9 sin4 cos2 + 9 cos4 sin2 + 4 sin2 cos2
√
= sin2 cos2 9 sin2 + 9 cos2 + 4 = 13 sin cos [since 0 ≤ ≤ 2 ⇒ sin cos ≥ 0]
r0 () 1
Then T() = = √ 3 sin2 cos −3 cos2 sin 2 sin cos = √1 h3 sin −3 cos 2i.
|r0 ()| 13 sin cos 13
(b) T0 () = √1
13
h3 cos 3 sin 0i, |T0 ()| = √1
13
9 cos2 + 9 sin2 + 0 = √3 ,
13
and
T0 () 1
N() = = 3 h3 cos 3 sin 0i = hcos sin 0i.
|T0 ()|
(c) B() = T() × N() = √1
13
h3 sin −3 cos 2i × hcos sin 0i = √1
13
h−2 sin 2 cos 3i
√
|T0 ()| 3 13 3
(d) () = = √ = or 3
13 sec csc
|r0 ()| 13 sin cos 13 sin cos
12. Using Exercise 13.3.42, we have r0 () = h−3 sin 4 cos i, r00 () = h−3 cos −4 sin i,
3
3
|r0 ()| = 9 sin2 + 4 cos2 and then
|(−3 sin )(−4 sin ) − (4 cos )(−3 cos )| 12
() = = .
(9 sin2 + 16 cos2 )32 (9 sin2 + 16 cos2 )32
At (3 0), = 0 and (0) = 12(16)32 = 1264
= 163
. At (0 4), = 2 and 2 = 12932 = 12
27
= 49 .
| 00 | 122 12
0 3 00
13. = 4 , = 12 and () = 2
= , so (1) = 32 .
[1 + (0 )2 ]32 (1 + 166 )32 17
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CHAPTER 13 REVIEW ¤ 367
122 − 2
14. () = ⇒ (0) = 2.
[1 + (43 − 2)2 ]32
So the osculating circle has radius 1
2 and center 0 − 12 .
2
Thus its equation is 2 + + 12 = 14 .
15. r() = hsin 2 cos 2i ⇒ r0 () = h2 cos 2 1 −2 sin 2i ⇒ T() = √1
5
h2 cos 2 1 −2 sin 2i ⇒
T0 () = √1
5
h−4 sin 2 0 −4 cos 2i ⇒ N() = h− sin 2 0 − cos 2i. So N = N() = h0 0 −1i and
B = T×N = √1
5
h−1 2 0i. So a normal to the osculating plane is h−1 2 0i and an equation is
−1( − 0) + 2( − ) + 0( − 1) = 0 or − 2 + 2 = 0.
16. (a) The average velocity over [3 32] is given by
r(32) − r(3)
= 5[r(32) − r(3)], so we draw a
32 − 3
vector with the same direction but 5 times the length
of the vector [r(32) − r(3)].
r(3 + ) − r(3)
(b) v(3) = r0 (3) = lim
→0
r0 (3)
(c) T(3) = , a unit vector in the same direction as
|r0 (3)|
r0 (3), that is, parallel to the tangent line to the curve at
r(3), pointing in the direction corresponding to
increasing , and with length 1.
17. r() = ln i + j + − k,
v() = r0 () = (1 + ln ) i + j − − k,
|v ()| = (1 + ln )2 + 12 + (−− )2 = 2 + 2 ln + (ln )2 + −2 , a() = v0 () = 1
i + − k
18. r() = (22 − 3) i + 2 j v() = r0 () = 4 i + 2 j,
⇒
√ √
speed = |v()| = 162 + 4 = 2 42 + 1, and a() = v0 () = r00 () = 4 i.
At = 1 we have r(1) = −i + 2 j, v(1) = 4 i + 2 j, a(1) = 4 i.
Notice that 2 = ⇒ = 2 (2)2 − 3 = 12 2 − 3, so the path is a
parabola.
19. v() = a() = (6 i + 122 j − 6 k) = 32 i + 43 j − 32 k + C, but i − j + 3 k = v(0) = 0 + C,
so C = i − j + 3 k and v() = (32 + 1) i + (43 − 1) j + (3 − 32 ) k
r() = v() = (3 + ) i + (4 − ) j + (3 − 3 ) k + D.
But r(0) = 0 so D = 0 and r() = (3 + ) i + (4 − ) j + (3 − 3 ) k.
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368 ¤ CHAPTER 13 VECTOR FUNCTIONS
20. We set up the axes so that the shot leaves the athlete’s hand 7 ft above the origin. Then we are given r(0) = 7j,
|v(0)| = 43 fts, and v(0) has direction given by a 45◦ angle of elevation. Then a unit vector in the direction of v(0) is
√1 (i
2
+ j) ⇒ v(0) = 43
√
2
(i + j). Assuming air resistance is negligible, the only external force is due to gravity, so as in
Example 13.4.5 we have a = − j where here ≈ 32 fts2 . Since v0 () = a(), we integrate, giving v() = − j + C
where C = v(0) = √ 43
2
(i + j) ⇒ v () = √43
2
i + 43
√
2
− j. Since r0 () = v() we integrate again, so
r() = 43
√
2
i + 43
√
2
− 12 2 j + D. But D = r(0) = 7 j ⇒ r() = 43
√
2
i + 43
√
2
− 12 2 + 7 j.
(a) At 2 seconds, the shot is at r(2) = 43
√
2
(2) i + 43
√
2
(2) − 12 (2)2 + 7 j ≈ 608 i + 38 j, so the shot is about 38 ft above
the ground, at a horizontal distance of 608 ft from the athlete.
(b) The shot reaches its maximum height when the vertical component of velocity is 0: 43
√
2
− = 0 ⇒
43
= √ ≈ 095 s. Then r(095) ≈ 289 i + 214 j, so the maximum height is approximately 214 ft.
2
(c) The shot hits the ground when the vertical component of r() is 0, so 43
√
2
− 12 2 + 7 = 0 ⇒
−162 + 43
√
2
+ 7 = 0 ⇒ ≈ 211 s. r(211) ≈ 642 i − 008 j, thus the shot lands approximately 642 ft from the
athlete.
21. Example 13.4.5 showed that the maximum horizontal range is achieved with an angle of elevation of 45 ◦ . In this case,
however, the projectile would hit the top of the tunnel using that angle. The horizontal range will be maximized with the
largest angle of elevation that keeps the projectile within a height of 30 m. From Example 13.4.5 we know that the position
function of the projectile is r() = (0 cos ) i + (0 sin ) − 12 2 j and the velocity is
v() = r0 () = (0 cos ) i + [(0 sin ) − ] j. The projectile achieves its maximum height when the vertical component of
0 sin
velocity is zero, so (0 sin ) − = 0 ⇒ = . We want the vertical height of the projectile at that time to be
2
0 sin 0 sin
30 m: (0 sin ) − 12 = 30 ⇒
2 2
0 sin 1 02 sin2 02 sin2 30(2) 60(98)
− = 30 ⇒ = 30 ⇒ sin2 = = = 03675 ⇒
2 2 02 402
√ √
sin = 03675. Thus the desired angle of elevation is = sin−1 03675 ≈ 373 ◦ .
02 sin 2 402 sin(746 ◦ )
From the same example, the horizontal distance traveled is = ≈ ≈ 1574 m.
98
√ √
22. r0 () = i + 2 j + 2 k, r00 () = 2 k, |r0 ()| = 1 + 4 + 42 = 42 + 5.
√
r0 () · r00 () 4 |r0 () × r00 ()| |4 i − 2 j| 2 5
Then = = √ and = = √ = √ .
|r0 ()| 42 + 5 |r0 ()| 42 + 5 42 + 5
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CHAPTER 13 REVIEW ¤ 369
23. (a) Instead of proceeding directly, we use Formula 3 of Theorem 13.2.3: r() = R() ⇒
v = r0 () = R() + R0 () = cos i + sin j + v .
(b) Using the same method as in part (a) and starting with v = R() + R0 (), we have
a = v0 = R0 () + R0 () + R00 () = 2 R0 () + R00 () = 2 v + a .
(c) Here we have r() = − cos i + − sin j = − R(). So, as in parts (a) and (b),
v = r0 () = − R0 () − − R() = − [R0 () − R()] ⇒
a = v0 = − [R00 () − R0 ()] − − [R0 () − R()] = − [R00 () − 2 R0 () + R()]
= − a − 2− v + − R
Thus, the Coriolis acceleration (the sum of the “extra” terms not involving a ) is −2− v + − R.
1 if ≤ 0
0 if 0
√1 − 2
√
if 0 √1
24. (a) () = √ 2 ⇒ () = − 1 − 2
0 if 0 √1
2 ⇒
2− if ≥ √1
−1 if √1
2
2
0 if 0
2 32
00
() = −1(1 − ) if 0 √1
2
0 if √1
2
since [−(1 − 2 )−12 ] = −(1 − 2 )−12 − 2 (1 − 2 )−32 = −(1 − 2 )−32 .
√ √
Now lim 1 − 2 = 1 = (0) and lim
√
1 − 2 = √12 = √12 , so is continuous. Also, since
→0+ −
→(1 2)
lim 0 () = 0 = lim 0 () and lim
√ −
0 () = −1 = lim
√ +
0 (), 0 is continuous. But
→0+ →0− →(1 2) →(1 2)
lim 00 () = −1 6= 0 = lim 00 (), so 00 is not continuous at = 0. (The same is true at = √1 .)
2
→0+ →0−
So does not have continuous curvature.
(b) Set () = 5 + 4 + 3 + 2 + + . The continuity conditions on are (0) = 0, (1) = 1, 0 (0) = 0 and
0 (1) = 1. Also the curvature must be continuous. For ≤ 0 and ≥ 1, () = 0; elsewhere
| 00 ()|
() = , so we need 00 (0) = 0 and 00 (1) = 0.
(1 + [ 0 ()]2 )32
The conditions (0) = 0 (0) = 00 (0) = 0 imply that = = = 0.
The other conditions imply that + + = 1, 5 + 4 + 3 = 1, and
10 + 6 + 3 = 0. From these, we find that = 3, = −8, and = 6.
Therefore () = 35 − 84 + 63 . Since there was no solution with
= 0, this could not have been done with a polynomial of degree 4.
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370 ¤ CHAPTER 13 VECTOR FUNCTIONS
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PROBLEMS PLUS
1. (a) r() = cos i + sin j ⇒ v = r0 () = − sin i + cos j, so r = (cos i + sin j) and
v = (− sin i + cos j). v · r = 2 (− cos sin + sin cos ) = 0, so v ⊥ r. Since r points along a
radius of the circle, and v ⊥ r, v is tangent to the circle. Because it is a velocity vector, v points in the direction of motion.
(b) In (a), we wrote v in the form u, where u is the unit vector − sin i + cos j. Clearly |v| = |u| = . At
2 2
speed , the particle completes one revolution, a distance 2, in time = = .
v
(c) a = = −2 cos i − 2 sin j = − 2 (cos i + sin j), so a = −2 r. This shows that a is proportional
to r and points in the opposite direction (toward the origin). Also, |a| = 2 |r| = 2 . ≤
()2 |v|2
(d) By Newton’s Second Law (see Section 13.4), F = a, so |F| = |a| = 2 = = .
2
2
2. (a) Dividing the equation |F| sin = by the equation |F| cos = , we obtain tan = , so
2
= tan .
√ √
(b) = 400 ft and = 12◦ , so = tan ≈ 400 · 32 · tan 12◦ ≈ 5216 fts ≈ 36 mih.
√ √
(c) We want to choose a new radius 1 for which the new rated speed is 3
2
of the old one: 1 tan 12◦ = 32 tan 12◦ .
Squaring, we get 1 tan 12◦ = 94 tan 12◦ , so 1 = 94 = 94 (400) = 900 ft.
3. (a) The projectile reaches maximum height when 0 = = [(0 sin ) − 12 2 ] = 0 sin − ; that is, when
2
0 sin 0 sin 1 0 sin 2 sin2
= and = (0 sin ) − = 0 . This is the maximum height attained when
2 2
the projectile is fired with an angle of elevation . This maximum height is largest when = 90◦ . In that case, sin = 1
02
and the maximum height is .
2
1 2
(b) Let = 02 . We are asked to consider the parabola 2 + 2 − 2 = 0 which can be rewritten as = − + .
2 2
−1 2
The points on or inside this parabola are those for which − ≤ ≤ and 0 ≤ ≤ + . When the projectile is
2 2
fired at angle of elevation , the points ( ) along its path satisfy the relations = (0 cos ) and
= (0 sin ) − 12 2 , where 0 ≤ ≤ (20 sin ) (as in Example 13.4.5). Thus
2
20 sin 02 0
|| ≤ 0 cos = sin 2 ≤ = ||. This shows that − ≤ ≤ .
1 20 sin
For in the specified range, we also have = 0 sin − 2 = 2
1
− ≥ 0 and
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372 ¤ CHAPTER 13 PROBLEMS PLUS
2
1
= (0 sin ) − = (tan ) − 2 2 = − 2 + (tan ) . Thus
0 cos 2 0 cos 20 cos2 2 cos2
−1 2 −1 1 2
− + = 2 + + (tan ) −
2 2 2 cos2 2 2
2 1 2 (1 − sec2 ) + 2 (tan ) − 2
= 1− 2
+ (tan ) − =
2 cos 2 2
−(tan2 ) 2 + 2 (tan ) − 2 − [(tan ) − ]2
= = ≤0
2 2
1 2
We have shown that every target that can be hit by the projectile lies on or inside the parabola = − + .
2 2
1 2 1 2
Now let ( ) be any point on or inside the parabola = − + . Then − ≤ ≤ and 0 ≤ ≤ − + .
2 2 2 2
We seek an angle such that ( ) lies in the path of the projectile; that is, we wish to find an angle such that
1 −1
=− 2 + (tan ) or equivalently = (tan2 + 1)2 + (tan ) . Rearranging this equation we get
2 cos2 2
2
2
tan2 − tan + + = 0 or 2 (tan )2 − 2(tan ) + (2 + 2) = 0 () . This quadratic equation
2 2
for tan has real solutions exactly when the discriminant is nonnegative. Now 2 − 4 ≥ 0 ⇔
(−2)2 − 42 (2 + 2) ≥ 0 ⇔ 42 (2 − 2 − 2) ≥ 0 ⇔ −2 − 2 + 2 ≥ 0 ⇔
1 −1 2
≤ (2 − 2 ) ⇔ ≤ + . This condition is satisfied since ( ) is on or inside the parabola
2 2 2
1 2
=− + . It follows that ( ) lies in the path of the projectile when tan satisfies (), that is, when
2 2
√
2 ± 42 (2 − 2 − 2) ± 2 − 2 − 2
tan = = .
22
(c) If the gun is pointed at a target with height at a distance downrange, then
tan = . When the projectile reaches a distance downrange (remember
we are assuming that it doesn’t hit the ground first), we have = = (0 cos ),
2
so = and = (0 sin ) − 12 2 = tan − 2 .
0 cos 20 cos2
Meanwhile, the target, whose -coordinate is also , has fallen from height to height
2
− 12 2 = tan − . Thus the projectile hits the target.
202 cos2
4. (a) As in Problem 3, r() = (0 cos ) i + (0 sin ) − 12 2 j, so = (0 cos ) and = (0 sin ) − 12 2 . The
difference here is that the projectile travels until it reaches a point where 0 and = −(tan ). (Here 0 ≤ ≤
2
.)
(0 sin ) 2 2
From the parametric equations, we obtain = and = − 2 = (tan ) − 2 .
0 cos 0 cos 20 cos2 20 cos2
2
Thus the projectile hits the inclined plane at the point where (tan ) − = −(tan ). Since
202 cos2
2
= (tan + tan ) and 0, we must have 2 = tan + tan . It follows that
202cos2 20 cos2
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CHAPTER 13 PROBLEMS PLUS ¤ 373
202 cos2 20 cos
= (tan + tan ) and = = (tan + tan ). This means that the parametric
0 cos
20 cos
equations are defined for in the interval 0 (tan + tan ) .
(b) The downhill range (that is, the distance to the projectile’s landing point as
measured along the inclined plane) is () = sec , where is the
coordinate of the landing point calculated in part (a). Thus
202 cos2 2 2 sin cos cos2 sin
() = (tan + tan ) sec = 0 +
cos cos2
202 cos 2 2 cos sin( + )
= (sin cos + cos sin ) = 0
cos2 cos2
() is maximized when
202
0 = 0 () = [− sin sin( + ) + cos cos( + )]
cos2
202 22 cos(2 + )
2
cos[( + ) + ] = 0
=
cos cos2
This condition implies that cos(2 + ) = 0 ⇒ 2 + = 2 ⇒ = 12 2 − .
(c) The solution is similar to the solutions to parts (a) and (b). This time the projectile travels until it reaches a point where
0 and = (tan ). Since tan = − tan(−), we obtain the solution from the previous one by replacing with −.
The desired angle is = 12 2 + .
(d) As observed in part (c), firing the projectile up an inclined plane with angle of inclination involves the same equations as
in parts (a) and (b) but with replaced by −. So if is the distance up an inclined plane, we know from part (b) that
202 cos sin( − ) cos2
= ⇒ 02 = . 2 is minimized (and hence 0 is minimized) with
cos2 (−) 2 cos sin( − ) 0
respect to when
cos2 −(cos cos ( − ) − sin sin ( − ))
0= (02 ) = ·
2 [cos sin( − )]2
− cos2 cos[ + ( − )] − cos2 cos(2 − )
= · = ·
2 [cos sin( − )]2 2 [cos sin( − )]2
Since
2
,
this implies cos(2 − ) = 0 ⇔ 2 − =
2
⇒ = 1
2 2
+ . Thus the initial speed, and
hence the energy required, is minimized for = 12 2 + .
5. (a) a = − j ⇒ v = v0 − j = 2 i − j ⇒ s = s0 + 2 i − 12 2 j = 35 j + 2 i − 12 2 j ⇒
s = 2 i + 35 − 12 2 j. Therefore = 0 when = 7 seconds. At that instant, the ball is 2 7 ≈ 094 ft to the
right of the table top. Its coordinates (relative to an origin on the floor directly under the table’s edge) are (094 0). At
√ √
impact, the velocity is v = 2 i − 7 j, so the speed is |v| = 4 + 7 ≈ 15 fts.
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374 ¤ CHAPTER 13 PROBLEMS PLUS
√ √
7 − − 7 − 7 7
(b) The slope of the curve when = is = = = = . Thus cot =
2 2 2 2
and ≈ 76◦ .
√ √
(c) From (a), |v| = 4 + 7. So the ball rebounds with speed 08 4 + 7 ≈ 1208 fts at angle of inclination
02 sin 2
90◦ − ≈ 823886◦ . By Example 13.4.5, the horizontal distance traveled between bounces is = , where
0 ≈ 1208 fts and ≈ 823886◦ . Therefore, ≈ 1197 ft. So the ball strikes the floor at about
2 7 + 1197 ≈ 213 ft to the right of the table’s edge.
1
6. By the Fundamental Theorem of Calculus, r0 () = sin 2 cos 12 2 , |r0 ()| = 1 and so T() = r0 ().
2
Thus T0 () = cos 12 2 − sin 12 2 and the curvature is = |T0 ()| = ()2 (1) = ||.
7. The trajectory of the projectile is given by r() = ( cos ) i + ( sin ) − 12 2 j, so
v() = r0 () = cos i + ( sin − ) j and
2 2
|v()| = ( cos )2 + ( sin − )2 = 2 − (2 sin ) + 2 2 = 2 2 − (sin ) + 2
2 2
2 2 2 2
= − sin + 2 − 2 sin = − sin + 2 cos2
The projectile hits the ground when ( sin ) − 12 2 = 0 ⇒ = 2
sin , so the distance traveled by the projectile is
2
(2) sin (2) sin
2
() = |v()| = − sin + 2 cos2
0 0
2 2
− () sin
= − sin + cos
2
(2) sin
2 2
[() cos ]2
+ ln − sin + − sin + cos
2
0
[using Formula 21 in the Table of Integrals]
2 2 2 2 2
= sin sin + cos + cos ln sin + sin + cos
2
2 2 2 2 2
+ sin sin + cos − cos ln− sin + sin + cos
2 2
= sin · + 2 cos2 ln sin + + sin · − 2 cos2 ln − sin +
2
2 2 () sin + 2 2 1 + sin
= sin + cos2 ln = sin + cos2 ln
2 − () sin + 2 1 − sin
We want to maximize () for 0 ≤ ≤ 2.
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CHAPTER 13 PROBLEMS PLUS ¤ 375
2 2 1 − sin 2 cos 1 + sin
0 () = cos + cos2 · · − 2 cos sin ln
2 1 + sin (1 − sin )2 1 − sin
2 2
2 1 + sin
= cos + cos2 · − 2 cos sin ln
2 cos 1 − sin
2 2 1 + sin 2 1 + sin
= cos + cos 1 − sin ln = cos 2 − sin ln
1 − sin 1 − sin
1 + sin
() has critical points for 0 2 when 0 () = 0 ⇒ 2 − sin ln = 0 [since cos 6= 0].
1 − sin
Solving by graphing (or using a CAS) gives ≈ 09855. Compare values at the critical point and the endpoints:
(0) = 0, (2) = 2 , and (09855) ≈ 120 2 . Thus the distance traveled by the projectile is maximized
for ≈ 09855 or ≈ 56◦ .
8. As the cable is wrapped around the spool, think of the top or bottom of the
cable forming a helix of radius + . Let be the vertical distance
between coils. Then, from similar triangles,
2 2( + )
√ = ⇒ 2 2 = 2 ( + )2 (2 − 42 ) ⇒
2 − 42
2( + )
= .
2 ( + )2 − 2
If we parametrize the helix by () = ( + ) cos , () = ( + ) sin , then we must have () = [(2)].
The length of one complete cycle is
2 2
2 2
= [0 ()]2 + [ 0 ()]2 + [ 0 ()]2 = ( + )2 + = 2 ( + )2 +
0 0 2 2
2 ( + )2 2 22 ( + )2
= 2 ( + )2 + 2 = 2( + ) 1+ =
( + )2 − 2 2 ( 2
+ ) − 2
2 ( + )2 − 2
The number of complete cycles is [[]], and so the shortest length along the spool is
2( + ) 2 ( + )2 − 2
=
2 ( + )2 − 2 22 ( + )2
9. We can write the vector equation as r() = a2 + b + c where a = h1 2 3 i, b = h1 2 3 i, and c = h1 2 3 i.
Then r0 () = 2 a + b which says that each tangent vector is the sum of a scalar multiple of a and the vector b. Thus the
tangent vectors are all parallel to the plane determined by a and b so the curve must be parallel to this plane. [Here we assume
that a and b are nonparallel. Otherwise the tangent vectors are all parallel and the curve lies along a single line.] A normal
vector for the plane is a × b = h2 3 − 3 2 3 1 − 1 3 1 2 − 2 1 i. The point (1, 2 , 3 ) lies on the plane (when
= 0), so an equation of the plane is
(2 3 − 3 2 )( − 1 ) + (3 1 − 1 3 )( − 2 ) + (1 2 − 2 1 )( − 3 ) = 0
or
(2 3 − 3 2 ) + (3 1 − 1 3 ) + (1 2 − 2 1 ) = 2 3 1 − 3 2 1 + 3 1 2 − 1 3 2 + 1 2 3 − 2 1 3
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