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840 CHAPTER 12 Vector-Valued Functions
Section 12.2 Differentiation and Integration of Vector-Valued Functions
• Differentiate a vector-valued function.
• Integrate a vector-valued function.
Differentiation of Vector-Valued Functions
In Sections 12.3–12.5, you will study several important applications involving the
calculus of vector-valued functions. In preparation for that study, this section is
devoted to the mechanics of differentiation and integration of vector-valued functions.
The definition of the derivative of a vector-valued function parallels that given for
real-valued functions.
Definition of the Derivative of a Vector-Valued Function
The derivative of a vector-valued function r is defined by
rt t rt
r t lim
t→0 t
for all t for which the limit exists. If r c exists, then r is differentiable at c.
If r c exists for all c in an open interval I, then r is differentiable on the
interval I. Differentiability of vector-valued functions can be extended to
closed intervals by considering one-sided limits.
NOTE In addition to r t, other notations for the derivative of a vector-valued function are
d dr
Dt rt, rt, and .
dt dt
Differentiation of vector-valued functions can be done on a component-by-
component basis. To see why this is true, consider the function given by
r t f ti gt j.
Applying the definition of the derivative produces the following.
r t t r t
rt lim
t→0 t
f t t i gt t j f ti g t j
lim
z
r(t + ∆t) − r(t) t→0 t
f t t f t
gt t gt
r′(t)
lim i j
t→0 t t
r(t + ∆t)
r(t)
lim
t→0
f t t f t
t
i lim
t→0
gt t gt
t j
y
f t i gt j
This important result is listed in the theorem on the next page. Note that the derivative
of the vector-valued function r is itself a vector-valued function. You can see from
x
Figure 12.8 that r t is a vector tangent to the curve given by rt and pointing in the
Figure 12.8 direction of increasing t-values.
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SECTION 12.2 Differentiation and Integration of Vector-Valued Functions 841
THEOREM 12.1 Differentiation of Vector-Valued Functions
1. If rt f t i gt j, where f and g are differentiable functions of t, then
r t ft i g t j. Plane
2. If rt f t i gt j h tk, where f, g, and h are differentiable functions
of t, then
r t ft i g t j h tk. Space
EXAMPLE 1 Differentiation of Vector-Valued Functions
Find the derivative of each vector-valued function.
1
a. rt t 2 i 4j b. rt i ln tj e 2t k
t
Solution Differentiating on a component-by-component basis produces the
following.
a. r t 2ti 0j
2ti Derivative
1 1
b. r t 2 i j 2e 2t k Derivative
t t
Higher-order derivatives of vector-valued functions are obtained by successive
differentiation of each component function.
EXAMPLE 2 Higher-Order Differentiation
For the vector-valued function given by rt cos ti sin tj 2tk, find each of the
following.
a. r t b. r t
c. r t r t d. r t r t
Solution
a. r t sin ti cos tj 2k First derivative
b. r t cos ti sin tj 0k
cos ti sin tj Second derivative
c. rt r t sin t cos t sin t cos t 0 Dot product
i j k
d. r t r t sin t cos t 2 Cross product
cos t sin t 0
cos t 2 sin t 2 sin t cos t
i j k
sin t 0 cos t 0 cos t sin t
2 sin ti 2 cos tj k
Note that the dot product in part (c) is a real-valued function, not a vector-valued
function.
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842 CHAPTER 12 Vector-Valued Functions
The parametrization of the curve represented by the vector-valued function
rt f t i gtj h tk
is smooth on an open interval I if f, g , and h are continuous on I and r t 0 for
any value of t in the interval I.
EXAMPLE 3 Finding Intervals on Which a Curve Is Smooth
y
Find the intervals on which the epicycloid C given by
rt 5 cos t cos 5ti 5 sin t sin 5tj, 0 ≤ t ≤ 2
6
is smooth.
4 t=π
2
2 Solution The derivative of r is
t=π t=0
x r t 5 sin t 5 sin 5ti 5 cos t 5 cos 5tj.
−6 −4 −2 2 4 6
−2 t = 2π In the interval 0, 2 , the only values of t for which
−4 t = 3π r t 0i 0j
2
−6 are t 0, 2, , 3 2, and 2 . Therefore, you can conclude that C is smooth in the
intervals
r(t) = (5 cos t − cos 5t)i + (5 sin t − sin 5t)j
3 3
The epicycloid is not smooth at the points 0, , , , , , and , 2
2 2 2 2
where it intersects the axes.
Figure 12.9 as shown in Figure 12.9.
NOTE In Figure 12.9, note that the curve is not smooth at points at which the curve makes
abrupt changes in direction. Such points are called cusps or nodes.
Most of the differentiation rules in Chapter 2 have counterparts for vector-valued
functions, and several are listed in the following theorem. Note that the theorem
contains three versions of “product rules.” Property 3 gives the derivative of the
product of a real-valued function f and a vector-valued function r, Property 4 gives
the derivative of the dot product of two vector-valued functions, and Property 5 gives
the derivative of the cross product of two vector-valued functions (in space). Note that
Property 5 applies only to three-dimensional vector-valued functions, because the
cross product is not defined for two-dimensional vectors.
THEOREM 12.2 Properties of the Derivative
Let r and u be differentiable vector-valued functions of t, let f be a differentiable
real-valued function of t, and let c be a scalar.
1. Dt crt cr t
2. Dt rt ± ut r t ± u t
3. Dt f trt f tr t f trt
4. Dt rt ut rt u t r t ut
5. Dt rt ut rt) u t r t ut
6. Dt r f t r f t ft
7. If rt rt c, then rt r t 0.
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SECTION 12.2 Differentiation and Integration of Vector-Valued Functions 843
Proof To prove Property 4, let
rt f1ti g1tj and ut f2ti g2tj
where f1, f2, g1, and g2 are differentiable functions of t. Then,
rt ut f1t f2t g1tg2t
and it follows that
E X P L O R AT I O N
Dt rt ut f1t f2 t f1 t f2t g1t g2 t g1 t g2t
Let rt cos ti sin tj. Sketch the
graph of r t. Explain why the graph f1t)f2 t g1t g2 t f1 t f2t g1 t g2t
is a circle of radius 1 centered at the rt u t r t ut.
origin. Calculate r 4 and r 4.
Position the vector r 4 so that its Proofs of the other properties are left as exercises (see Exercises 73–77 and
initial point is at the terminal point of Exercise 80).
r 4. What do you observe? Show
that r t r t is constant and that
rt rt 0 for all t. How does
EXAMPLE 4 Using Properties of the Derivative
this example relate to Property 7 of
Theorem 12.2? For the vector-valued functions given by
1
rt i j ln tk and ut t 2 i 2tj k
t
find
a. Dt rt ut and b. Dt ut u t.
Solution
1 1
a. Because r t 2 i k and u t 2ti 2j, you have
t t
Dt rt ut rt u t r t ut
1
i j ln tk 2ti 2j
t
1 1
2 i k t 2 i 2t j k
t t
1
2 2 1
t
1
3 .
t
b. Because u t 2ti 2 j and u t 2i, you have
Dt ut u t ut u t u t u t
i j k
t 2 2t 1 0
2 0 0
2t 1 t2 1 t 2 2t
i j k
0 0 2 0 2 0
0i 2j 4tk
2j 4tk.
NOTE Try reworking parts (a) and (b) in Example 4 by first forming the dot and cross
products and then differentiating to see that you obtain the same results.
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844 CHAPTER 12 Vector-Valued Functions
Integration of Vector-Valued Functions
The following definition is a rational consequence of the definition of the derivative
of a vector-valued function.
Definition of Integration of Vector-Valued Functions
1. If rt f ti gtj, where f and g are continuous on a, b, then the
indefinite integral (antiderivative) of r is
rt dt
f t dt i gt dt j Plane
and its definite integral over the interval a ≤ t ≤ b is
b b b
a
rt dt a
f t dt i
a
gt dt j.
2. If rt f ti gtj htk, where f, g, and h are continuous on a, b, then
the indefinite integral (antiderivative) of r is
rt dt
f t dt i
g t dt j
h t dt k Space
and its definite integral over the interval a ≤ t ≤ b is
b b b b
a
rt dt a
f t dt i
a
g t dt j
a
h t dt k.
The antiderivative of a vector-valued function is a family of vector-valued func-
tions all differing by a constant vector C. For instance, if rt is a three-dimensional
vector-valued function, then for the indefinite integral rt dt, you obtain three
constants of integration
f t dt Ft C1, g t dt G t C2, h t dt H t C3
where F t f t, G t g t, and H t h t. These three scalar constants
produce one vector constant of integration,
rt dt Ft C1i G t C2 j H t C3k
Fti G t j H tk C1i C2 j C3k
Rt C
where R t rt.
EXAMPLE 5 Integrating a Vector-Valued Function
Find the indefinite integral
t i 3j dt.
Solution Integrating on a component-by-component basis produces
t2
t i 3j dt i 3tj C.
2
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SECTION 12.2 Differentiation and Integration of Vector-Valued Functions 845
Example 6 shows how to evaluate the definite integral of a vector-valued
function.
EXAMPLE 6 Definite Integral of a Vector-Valued Function
Evaluate the integral
1 1
1
rt dt
3
ti j et k dt.
0 0 t1
Solution
1 1 1 1
1
r t dt t1 3 dt i dt j et dt k
0 0 0 t1 0
1 1 1
3 43
t i ln t 1 j et k
4 0 0 0
3 1
i ln 2 j 1 k
4 e
As with real-valued functions, you can narrow the family of antiderivatives of a
vector-valued function r down to a single antiderivative by imposing an initial
condition on the vector-valued function r. This is demonstrated in the next example.
EXAMPLE 7 The Antiderivative of a Vector-Valued Function
Find the antiderivative of
1
r t cos 2ti 2 sin tj k
1 t2
that satisfies the initial condition r0 3i 2j k.
Solution
rt r t dt
1
cos 2t dt i 2 sin t dt j dt k
1 t2
1
sin 2t C1 i 2 cos t C2j arctan t C3k
2
Letting t 0 and using the fact that r0 3i 2j k, you have
r0 0 C1i 2 C2j 0 C3k
3i 2j k.
Equating corresponding components produces
C1 3, 2 C2 2, and C3 1.
So, the antiderivative that satisfies the given initial condition is
1
rt sin 2t 3 i 2 cos t 4j arctan t 1k.
2