Exercise: Vector-Valued Function (Solution)

1. Let C be a smooth curve whose parametric equation of this form:

x = 3t3 , y = te−2t , z = sin t

a) Find the position vector ⃗r(t) of this curve.

Solution

Since ⃗r(t) = x(t)⃗i + y(t)⃗j + z(t)⃗k; t0 ≤ t ≤ t1

Then, ⃗r(t) = 3t3⃗i + te−2t⃗j + sin(t)⃗k

Therfore, the position vector ⃗r(t) is 3t3⃗i + te−2t⃗j + sin(t)⃗k.

b) Find ⃗r ′ (t) and ⃗r ′′ (t)
Solution
Since ⃗r(t) = x(t)⃗i + y(t)⃗j + z(t)⃗k
Then ⃗r ′ (t)
⃗r ′ (t) = 9t2⃗i + (−2te−2t + e−2t )⃗j + cos(t)⃗k .

and ⃗r ′′ (t)
⃗r ′′ (t) = 18t⃗i + (4te−2t − 4e−2t )⃗j − sin(t)⃗k .

page 1
2. Find the arc length of curve ⃗r(t) = 3 cos(2t)⃗i − 3 sin(2t)⃗j + 8t⃗k, 0 ≤ t ≤ 2π .

Solution

Find ⃗r ′ (t) = −6 sin(2t)⃗i − 6 cos(2t)⃗j + 8⃗k

q
2
2
and ′
∥⃗r (t)∥ = − 6 sin(2t) + − 6 cos(2t) + 82
q
= 36 sin2 (2t) + 36 cos2 (2t) + 64
q

= 36 sin2 (2t) + cos2 (2t) + 64
√
= 36 + 64
√
= 100

= 10

Find arc length by the formula

Z 2π
d⃗r
s(t) = dt for a≤t≤b
0 dt
Z 2π
= 10dt
0
2π
= 10t
0

= 20π unit

Thus, the arc length of the curve ⃗r(t) = 3 cos(2t)⃗i − 3 sin(2t)⃗j + 8t⃗k is 20π unit.

page 2
3. Find the arc length parameterization of the curve ⃗r(t) = cos(3t)⃗i + sin(3t)⃗j + 6t ⃗k.
3
2

Solution

Set
3 3
⃗r(t) = cos(3t)⃗i + sin(3t)⃗j + 6t 2 ⃗k = ⟨cos(3t), sin(3t), 6t 2 ⟩
√
Then, ⃗r ′ (t) = −3 sin(3t)⃗i + 3 cos(3t)⃗j + 9 t⃗k
q
2
2 √
2
and ′
∥⃗r (t)∥ = − 3 sin(3t) + 3 cos(3t) + 9 t
q
= 9 sin2 (3t) + 9 cos2 (3t) + 81t
q

= 9 sin2 (3t) + cos2 (3t) + 9t
√
= 3 9t + 1

Find arc length s(t)

Z t
s(t) = ∥⃗r ′ (τ )∥dτ
Z0 t
√
= 3 9τ + 1dτ
0
t
2 3
= (9τ + 1) 2
9
0
2 3

= (9t + 1) 2 − 1
9

2 
Simplify t in terms of s is s = (9t + 1) − 1
3
2
9
2 3

s= (9t + 1) 2 − 1
9
9 3
s = (9t + 1) 2 − 1
2
9 3
s + 1 = (9t + 1) 2
2
! 23
9
s+1 = 9t + 1
2
! 23
9
s+1 − 1 = 9t
2
" ! 23 #
1 9
t= s+1 −1
9 2

page 3
 " ! 23 #
1 9
substitute t = − 1 in ⃗r(t) = cos(3t)⃗i + sin(3t)⃗j + 6t 2 ⃗k we get,
3
s+1
9 2
  23 !!   32 !!
1 9 1 9
⃗r(s) = cos s+1 − 1 ⃗i + sin s+1 − 1 ⃗j
3 2 3 2
  32 ! 32
2 9
+ s+1 − 1 ⃗k
9 2

Therefore ⃗r(t) can be reparametrized

!! in terms of s as !!

 23   32
91 1 9
⃗r(s) = cos s+1 − 1 ⃗i + sin s+1 − 1 ⃗j
23 3 2
  32 ! 32
2 9
+ s+1 − 1 ⃗k .
9 2

4. Find the equation of the line tangent to ⃗r(t) at t0 , then sketch the graph of ⃗r(t) and draw
the tangent vector ⃗r ′ (t0 ).

a) ⃗r(t) = ⟨t, t2 ⟩; t0 = 2

Solution

We have ⃗r ′ (t) = ⟨1, 2t⟩

and ⃗r ′ (t0 ) = ⃗r ′ (2) = ⟨1, 4⟩

Therefore, the graph of ⃗r(t) and the tangent vector are shown as follows

page 4
b) ⃗r(t) = sec(t)⃗i + tan(t)⃗j; t0 = 0

Solution

We have ⃗r ′ (t) = sec(t) tan(t)⃗i + (sec t)2⃗j

and ⃗r ′ (t0 ) = ⃗r ′ (0)

= 1(0)⃗i + 12⃗j

= ⃗j

Therefore, the graph of ⃗r(t) and the tangent vector are shown as follows

π
c) ⃗r(t) = 2 sin(t)⃗i + ⃗j + 2 cos(t)⃗k; t0 =
2
Solution

We have ⃗r ′ (t) = 2 cos(t)⃗i + 0⃗j + 2(− sin(t))⃗k

= 2 cos(t)⃗i − 2 sin(t)⃗k
π
and ⃗r ′ (t0 ) = ⃗r ′ ( )
2
= 2(0)⃗i − 2(1)⃗k

= −2⃗k

Therefore, the graph of ⃗r(t) and the tangent vector are shown as follows

page 5
5. Find a vector equation of the line tangent to the graph of ⃗r(t) at the point P0 on the curve.
√
a) ⃗r(t) = (3t − 1)⃗i + 3t + 4⃗j; P0 (−1, 2)

Solution
√
Consider r⃗0 = ⃗r(t0 ) = (3t0 − 1)⃗i + 3t0 + 4⃗j

We get, component of ⃗r(t0 );

x(t0 ) = 3t0 − 1
√
y(t0 ) = 3t0 + 4

Find t0 of ⃗r(t) at P0 = (−1, 2)

From x(t0 ); 3t0 − 1 = −1

3t0 = 0

t0 = 0
√
y(t0 ); 3t0 + 4 = 2

3t0 + 4 = 4

3t0 = 0

t0 = 0

Then, t0 = 0,
Thus, r⃗0 = ⃗r(t0 ) = ⃗r(0) = −1⃗i + 2⃗j
From ⃗v0 = r⃗0 ′ (t0 )
1
= 3⃗i + √ (3)⃗j
2 3t0 + 4
as t0 = 0; then, v⃗0 = ⃗r ′ (0)
3
= 3⃗i + √ ⃗j
2 4
3
= 3⃗i + ⃗j
4
We get, ⃗r = r⃗0 + tv⃗0
3
= (−⃗i + 2⃗j) + t(3⃗i + ⃗j)
4
3
= (3t − 1)⃗i + ( t + 2)⃗j
4
3
Thus, the vector equation of the line tangent is (3t − 1)⃗i + ( t + 2)⃗j .
4

page 6
b) ⃗r(t) = 4 cos(t)⃗i − 3t⃗j; P0 (2, −π)

Solution

Consider r⃗0 = ⃗r(t0 )

= 4 cos(t0 )⃗i − 3t0⃗j

We get, component of ⃗r(t0 );

x(t0 ) = 4 cos(t0 )

y(t0 ) = −3t0

Find t0 of ⃗r(t) at P0 = (2, −π)

From x(t0 ); 4 cos(t0 ) = 2

2
cos(t0 ) =
4
π
t0 =
3
y(t0 ); −3t0 = −π
π
t0 =
3
π
Then, t0 =
3
Thus, r⃗0 = ⃗r(t0 )
π 
= ⃗r
3   π 
π ⃗
= 4 cos i−3 ⃗j
3 3
1
=4 ⃗i − π⃗j
2
= 2⃗i − π⃗j

page 7
 From ⃗v (t) = ⃗r ′ (t)

= −4 sin(t)⃗i − 3⃗j
π
as t0 = ,
3
π
Then, v⃗0 = −4 sin( )⃗i − 3⃗j
3
 √3 
= −4 ⃗i − 3⃗j
2
√
= −2 3⃗i − 3⃗j

We get ⃗r = r⃗0 + tv⃗0

√
= (2⃗i − π⃗j) + t(−2 3⃗i − 3⃗j)
√
= (2 − 2 3t)⃗i + (−π − 3t)⃗j

√
Thus, the vector equation of the line tangent is (2 − 2 3t)⃗i + (−π − 3t)⃗j .

page 8
 1 ⃗
c) ⃗r(t) = t2⃗i − j + (4 − t2 )⃗k; P0 (4, −1, 0)
t+3
Solution

Consider r⃗0 = ⃗r(t0 )

1 ⃗
= t20⃗i − j + (4 − t20 )⃗k
t0 + 3
We get, component of ⃗r(t0 );

x(t0 ) = t20
1
y(t0 ) = −
t0 + 3
z(t0 ) = 4 − t20

Find t0 of ⃗r(t) at P0 = (4, −1, 0)

From x(t0 ); t20 = 4 = ±2

1
y(t0 ); − = −1
t0 + 3
1 = t0 + 3

t0 = −2

z(t0 ); 4 − t20 = 0

t20 = 4

t0 = ±2

Since x(t0 ) and z(t0 ) we get, t0 = ±2

and y(t0 ) we get, t0 = −2
So, t0 = −2

page 9
 Thus, r⃗0 = ⃗r(t0 )

= ⃗r(−2)
1 ⃗
= (−2)2⃗i − j + (4 − (−2)2 )⃗k
−2 + 3
= 4⃗i + ⃗j

From ⃗v (t) = ⃗r ′ (t)

!
−1 ⃗j + (−2t)⃗k
= 2t⃗i −
(t + 3)2
!
1 ⃗j − 2t⃗k
= 2t⃗i +
(t + 3)2

as t0 = −2,
!
1
Then, v⃗0 = 2(−2)⃗i + ⃗j − 2(−2)⃗k
(−2 + 3)2

= −4⃗i + ⃗j − 4⃗k

We get ⃗r = r⃗0 + tv⃗0

= (4⃗i + ⃗j) + t(−4⃗i + ⃗j − 4⃗k)

Thus, the vector equation of the line tangent is (4⃗i + ⃗j) + t(−4⃗i + ⃗j − 4⃗k).

page 10
6. Let ⃗r(t) be the position vector of particle moving in the plane. Find the velocity,
acceleration, and speed at an arbitrary time t.
π
a) ⃗r(t) = 3 cos(t)⃗i + 3 sin(t)⃗j; t=
3
Solution

⃗v (t) = ⃗r ′ (t)

= −3 sin(t)⃗i + 3 cos(t)⃗j
π   √3   
⃗v = −3 ⃗i + 3 1 ⃗j
3 2 2
3 √ ⃗ 3⃗
=− 3i + j
s2 √
2
π   −3 3 2  3 2
⃗v = +
3 2 2
r
27 9
= +
4 4
√
= 9

=3

⃗a(t) = ⃗r ′′ (t)

= −3 cos(t)⃗i − 3 sin(t)⃗j
π  1  √3 
⃗a = −3 i−3
⃗ ⃗j
3 2 √ 2
3 3 3⃗
= − ⃗i − j
2 2
π 3 √ ⃗ 3⃗
Thus, the velocity is ⃗v 3i + j ,
=−
3
π 
2 √ 2 π 
3⃗ 3 3⃗
the acceleration is ⃗a =− i− j ,and speed is ⃗v = 3.
3 2 2 3

page 11
b) ⃗r(t) = et⃗i + e−t⃗j; t=0

Solution

⃗v (t) = et⃗i − e−t⃗j

⃗v (0) = ⃗i − ⃗j
√
∥⃗v (0)∥ = 1 + 1
√
= 2

⃗a(t) = et⃗i + e−t⃗j

⃗a(0) = ⃗i + ⃗j

Thus, the velocity is ⃗v(0) = ⃗i − ⃗j , the acceleration is ⃗a(0) = ⃗i + ⃗j ,

√
and speed is ∥⃗v(0)∥ = 2.
1 1
c) ⃗r(t) = t⃗i + t2⃗j + t3⃗k; t=2
2 3
Solution
1 1
⃗v (t) = ⃗i + (2t)⃗j + (3t2 )⃗k
2 3
= ⃗i + t⃗j + t2⃗k

⃗v (2) = ⃗i + 2⃗j + 4⃗k

√
∥⃗v (2)∥ = 12 + 22 + 42
√
= 21

⃗a(t) = 0⃗i + ⃗j + 2t⃗k

⃗a(2) = ⃗j + 4⃗k

Thus, the velocity is ⃗v(2) = ⃗i + 2⃗j + 4⃗k, the acceleration is ⃗a(2) = ⃗j + 4⃗k,
√
and speed is ∥⃗v(2)∥ = 21.

page 12
  ⃗r ′ (t) 
7. Find the unit vector: T⃗ (t) =
∥⃗r ′ (t)∥

a) ⃗r(t) = ln(2t)⃗i + t⃗j; t=e

Solution
1 ⃗ ⃗
⃗r ′ (t) = (2)i + j
2t
1
⃗r ′ (e) = ⃗i + ⃗j
e
r  1 2
′
∥⃗r (e)∥ = + 12
e
r
1
= +1
e2
r
1 + e2
=
e2
1 √
= 1 + e2
e
1 √ 1
1+e2 ⃗
T⃗ (e) = √
e ⃗
i + j
1+e2 e
e
1 ⃗ e ⃗
=√ i+ √ j
1 + e2 1 + e2

1 ⃗ e ⃗
Therefore, the unit vector is T⃗ (e) = √ i+ √ j.
1 + e2 1 + e2
π
b) ⃗r(t) = 4 cos(t)⃗i + 4 sin(t)⃗j + t⃗k; t=
2
Solution

⃗r ′ (t) = −4 sin(t)⃗i + 4 cos(t)⃗j + ⃗k

 
′ π
⃗r = −4⃗i + ⃗j + ⃗k
2
π  p
⃗r ′ = (−4)2 + 02 + 12
2
√
= 17
π  4 1
T⃗ = − √ ⃗i + √ ⃗k
2 17 17
π  4 1
Therefore, the unit vector is T
⃗ = − √ ⃗i + √ ⃗k .
2 17 17

page 13
 1 1
c) ⃗r(t) = t⃗i + t2⃗j + t3⃗k; t=0
2 3
Solution
1 1
⃗r ′ (t) = ⃗i + (2t)⃗j + (3t2 )⃗k
2 3
= ⃗i + t⃗j + t2⃗k

⃗r ′ (0) = ⃗i + 0⃗j + 02⃗k

= ⃗i
√
∥⃗r ′ (0)∥ = 12

=1

⃗ ⃗r ′ (0)
T (0) =
∥⃗r ′ (0)∥
⃗i
=
1
= ⃗i

Therefore, the unit vector is T⃗ (0) = ⃗i.

page 14
8. Find the curvature as follows.

a) Line vector equation in the form ⃗r(t) = ⃗r0 + t⃗v passing through the terminal point
of the position vector r⃗0 and parallel to vector ⃗v. Find the line equation ⃗r(s) with
arc length parameter s, and find the curvature at any point.
 dT⃗ 
Using κ(s) = ′ ′′
= ∥T (s)∥ = ∥⃗r (s)∥
⃗
ds
Solution
We compute the ingredients needed for the three unit vector.

⃗r ′ (t) = ⃗v

∥⃗r ′ (t)∥ = ∥⃗v ∥

At t0 = 0:
Z u=t
⃗s(t) = ∥⃗r ′ (u)∥du
Zu=0
u=t
= ∥⃗v ∥du
u=0
u=t
= ∥⃗v ∥u
u=0

= ∥⃗v ∥t
s
t=
∥⃗v ∥

So,
s
⃗r(s) = ⃗r0 + ⃗v
∥⃗v ∥
Consider curve of linear equation.
s
⃗r(s) = ⃗r0 + ⃗v
∥⃗v ∥
1
⃗r ′ (s) = ⃗v
∥⃗v ∥
⃗r ′′ (s) = 0

κ(s) = ∥⃗r ′′ (s)∥ = 0

Therefore, κ(s) = 0.

page 15
b) Find the curvature κ of ⃗r(t) = t⃗i + ln(cos t)⃗j
 ∥T⃗ (t)∥ 
Using κ(t) =
∥⃗r ′ (t)∥
Solution
We compute the ingredients needed for the three unit vector.
d⃗r
⃗r ′ (t) =
dt
= ⃗i − tan(t)⃗j
p
∥⃗r ′ (t)∥ = 1 + (− tan(t))2
p
= sec2 (t)

= sec(t)
⃗r ′ (t)
Unit tangent vector: T⃗ =
∥⃗r ′ (t)∥
⃗i − tan(t)⃗j
=
sec(t)
 
⃗i − sin(t) ⃗j
cos(t)
= 1
cos(t)
!
 sin(t) 
= ⃗i − ⃗j cos(t)
cos(t)

= cos(t)⃗i − sin(t)⃗j
dT⃗
= − sin(t)⃗i − cos(t)⃗j
dt
∥T⃗ ′ (t)∥
and κ(t) =
∥⃗r ′ (t)∥
1
= ∥ − sin(t)⃗i − cos(t)⃗j∥
∥ sec(t)∥
1 p
= (− sin(t))2 + (− cos(t))2
∥ cos(t)
1
∥

= (cos(t))(1)

= cos(t)

Therefore, κ(t) = cos(t).

page 16
c) Find the curvature κ of a circle of radius 2 with the center is (x0 , y0 ).
 ∥⃗r ′ (t) × ⃗r ′′ (t)∥ 
Using κ(t) =
∥⃗r (t)∥
′ 3

Solution
Since, ⃗r(t) = (x0 + 2 cos(t))⃗i + (y0 + 2 sin(t))⃗j
We compute the ingredients needed for the three unit vector.

⃗r ′ (t) = (−2 sin(t))⃗i + (2 cos(t))⃗j

⃗r ′′ (t) = (−2 cos(t))⃗i + (−2 sin(t))⃗j

p
and ∥⃗r ′′ (t)∥ = (−2 cos(t))2 + (−2 sin(t))2
q
= 22 (sin2 (t) + cos2 (t))
√
= 22

=2
⃗i ⃗j ⃗k
Consider ⃗r ′ (t) × ⃗r ′′ (t) = −2 sin(t) 2 cos(t) 0
−2 cos(t) −2 sin(t) 0

= 22 sin2 (t)⃗k + 22 cos2 (t)⃗k

= 22 (sin2 (t) + cos2 (t))⃗k

= 22⃗k
p
and ∥⃗r ′ (t) × ⃗r ′′ (t)∥ = (22 )2

= 22
∥⃗r ′ (t) × ⃗r ′′ (t)∥
So, κ(t) =
∥⃗r ′ (t)∥3
2
2
= 3
2
1
=
2
1
Therefore, κ(t) = .
2

page 17
9. Find the unit normal vector as follows.

a) ⃗r(t) = 2 sin(2t)⃗i + 2 cos(2t)⃗j + 4⃗k

 ⃗r ′ (t) 
Using T⃗ (t) = ′
∥⃗r (t)∥
Solution
Find unit tangent vector:
⃗r ′ (t)
Since T⃗ (t) =
∥⃗r ′ (t)∥
(4 cos(2t))⃗i + (−4 sin(2t))⃗j + 0⃗k
=p
(4 cos(2t))2 + (−4 sin(2t))2 + 02
(4 cos(2t))⃗i + (−4 sin(2t))⃗j
= p
16 cos2 (2t) + 16 sin2 (2t)
(4 cos(2t))⃗i + (−4 sin(2t))⃗j
= r  
16 cos2 (2t) + sin2 (2t)

(4 cos(2t))⃗i + (−4 sin(2t))⃗j

= p
16(1)
(4 cos(2t))⃗i + (−4 sin(2t))⃗j
=
4
= cos(2t)⃗i + (− sin(2t))⃗j

So, T⃗ (t) = cos(2t)⃗i + (− sin(2t))⃗j

Find unit normal vector:
⃗′
Since ⃗ (t) = T (t)
N
∥T⃗ ′ (t)∥
−2 sin(2t)⃗i + (−2 cos(2t))⃗j
=p
(−2 sin(2t))2 + (−2 cos(2t))2
−2 sin(2t)⃗i + (−2 cos(2t))⃗j
= p
4 sin2 (2t) + 4 cos2 (2t)
−2 sin(2t)⃗i + (−2 cos(2t))⃗j
= r  
2 2
4 sin (2t) + cos (2t)

−2 sin(2t)⃗i + (−2 cos(2t))⃗j

= p
4(1)
= − sin(2t)⃗i + (− cos(2t))⃗j

Therefore, N⃗ (t) = − sin(2t)⃗i + (− cos(2t))⃗j .

page 18
 1
b) ⃗r(t) = t⃗i + 3t⃗j + t2⃗k at t = 0
 2 
⃗v (t)
Using T⃗ (t) =
∥⃗v (t)∥
Solution
Find unit tangent vector:
⃗v (t)
Since T⃗ (t) =
∥⃗v (t)∥
 
1i + 3j + 12 (2t)⃗k
⃗ ⃗
= √
12 + 3 2 + t2
⃗i + 3⃗j + t⃗k
= √
10 + t2
 − 12  − 12  − 12
= 10 + t 2 ⃗i + 3 10 + t 2 ⃗
j + t 10 + t 2 ⃗k

 − 21  − 12  − 12
So, T (t) = 10 + t
⃗ 2 ⃗i + 3 10 + t 2 ⃗
j + t 10 + t 2 ⃗k .

Find unit normal vector at t = 0

dT⃗
Since ⃗ (0) =
N dt
dT⃗
∥ dt ∥
dT⃗ (t) 1 − 32  1  − 32
Find = − 10 + t 2
(2t)i + 3 −
⃗ 10 + t 2
(2t)⃗j
dt 2" 2 #
 1  − 32  − 21
+ t − 10 + t2 (2t) + 10 + t2 (1) ⃗k
2
 − 32  − 3
= −t 10 + t2 ⃗i + (−3t) 10 + t2 2 ⃗j
" #
 − 32  − 21
+ (−t2 ) 10 + t2 + 10 + t2 ⃗k

dT⃗ (0)  − 32  − 32
At t=0: = 0 10 + 0 2 ⃗i + (0) 10 + 0 2 ⃗j
dt " #
 − 32  − 12
+ (0) 10 + 02 + 10 + 02 ⃗k

1

= 0⃗i + 0⃗j + 0 + (10)− 2 ⃗k
1
= 0⃗i + 0⃗j + √ ⃗k
10

page 19
 r 
dT⃗ (0) 1 2
and =
dt 10
r
1
=
10
1
=√
10
dT⃗ (0)
We get ⃗ (0) =
N dt
dT⃗ (0)
∥ dt ∥
√1 ⃗ k
10
=
√1
10

= ⃗k

1 2⃗
Therefore, unit normal vector at t = 0 of ⃗r(t) = t⃗i + 3t⃗j + tk is ⃗k.
2

page 20
10. Find the center of circle and equation for the osculating cicle at the origin on the parabola
y = −2x2 .

Solution
The parametric equation for this curve are x = t, y = −2t2


Thus, ⃗r(t) = t⃗i + − 2t2 ⃗j
d⃗r(t)
Find ⃗v (t) =
dt
= ⃗i + (−4t)⃗j
p
and ∥⃗v (t)∥ = 12 + (−4t)2
√
= 1 + 16t2

⃗v (t)
Therefore, T⃗ (t) =
∥⃗v (t)∥
1⃗i + (−4t)⃗j
= √
1 + 16t2
 − 12  − 1
= 1 + 16t2 ⃗i + (−4t) 1 + 16t2 2 ⃗j

dT⃗ (t) 1 − 23
and = − 1 + 16t2 (32t)⃗i
dt 2" #
 1  − 32  − 12
+ (−4t) − 1 + 16t2 (32t) + 1 + 16t2 (−4) ⃗j
2
" #
 − 32  − 32  − 12
= −16t 1 + 16t2 ⃗i + 64t2 1 + 16t2 − 4 1 + 16t2 ⃗j

So, κ(t) at t = 0 is
1 dT⃗ (0)
κ(0) =
∥⃗v (0)∥ dt
1
=p ·
1 + 16(0)2
"r #

− 23 2   − 32  − 12 2
− 16(0) 1 + 16(0)2 + 64(0)2 1 + 16(0)2 − 4 1 + 16(0)2
!
1 p
=√ 02 + (0 − 4)2
1+0
1 √
= √ ( 16)
1
=4

page 21
 1 1
Radias of curvature: ρ = =
κ 4
 1
Center of curvature: 0, −
4
Therefore, equation of osculating circle is
!2
 1  1 2
(x − 0)2 + y− − =
4 4
!2
2 1 1
x + y+ = .
4 16

page 22
11. Find unit binormal vector B⃗ of the position of a moving particle is given
by ⃗r(t) = (et cos t)⃗i + (et sin t)⃗j + 2⃗k.

Solution

Find unit tangent vector:

⃗r ′ (t)
T⃗ (t) =
∥⃗r(t)∥



− et sin t + et cos t ⃗i + et cos t + et sin t ⃗j
= q
2
2
et cos t − et sin t + et cos t + et sin t



− et sin t + et cos t ⃗i + et cos t + et sin t ⃗j
=q


e2t cos2 t − 2e2t sin t cos t + e2t sin2 t + e2t cos2 t + 2e2 sin t cos t + e2t sin2 t



− et sin t + et cos t ⃗i + et cos t + et sin t ⃗j
= √
2e2t cos2 t + 2e2t sin2 t



− et sin t + et cos t ⃗i + et cos t + et sin t ⃗j
= q

2e2t cos2 t + sin2 t



− et sin t + et cos t ⃗i + et cos t + et sin t ⃗j
= √
2et
 1 1   1 1 
So, T⃗ (t) = − √ sin t + √ cos t ⃗i + √ cos t + √ sin t ⃗j
2 2 2 2
Find unit normal vector:
⃗′
⃗ (t) = T (t)
N
∥T⃗ ′ (t)∥
   
− √12 cos t − √12 sin t ⃗i + − √12 sin t + √12 cos t ⃗j
= r 2  2
− 2 cos t − 2 sin t + − 2 sin t + 2 cos t
√1 √ 1 √1 √1

   
− √12 cos t − √12 sin t ⃗i + − √12 sin t + √12 cos t ⃗j
= r   
1
cos 2 t + sin t cos t + 1 sin2 t + 1 sin2 t − sin t cos t + 1 cos2 t
2 2 2 2
   
− √12 cos t − √12 sin t ⃗i + − √12 sin t + √12 cos t ⃗j
= √ 2
sin t + cos2 t
 1 1   1 1 
So, N⃗ (t) = − √ cos t − √ sin t ⃗i + − √ sin t + √ cos t ⃗j
2 2 2 2

page 23
Find unit binormal vector:
⃗
B(t) = T⃗ (t) × N
⃗ (t)

⃗i ⃗j ⃗k
1 1 1 1
= − √ sin t + √ cos t √ cos t + √ sin t 0
2 2 2 2
1 1 1 1
− √ cos t − √ sin t − √ sin t + √ cos t 0
2 2 2 2


= 0⃗i + 0⃗j + sin2 t + cos2 t ⃗k

= ⃗k

Therefore, unit binormal vector is ⃗k.

page 24
12. Determine the torsion of ⃗r(t) = (6 sin t)⃗i + (6 cos t)⃗j + 8t⃗k.

Solution

Find unit tangent vector:

⃗r ′ (t)
T⃗ (t) =
∥⃗r ′ (t)∥
(6 cos t)⃗i + (−6 sin t)⃗j + 8⃗k
=p
(6 cos t)2 + (−6 sin t)2 + 82
(6 cos t)⃗i + (−6 sin t)⃗j + 8⃗k
= √
36 cos2 t + 36 sin2 t + 64
(6 cos t)⃗i + (−6 sin t)⃗j + 8⃗k
= √
36 + 64
(6 cos t)⃗i + (−6 sin t)⃗j + 8⃗k
= √
100
(6 cos t)⃗i + (−6 sin t)⃗j + 8⃗k
=
10
3   3  4⃗
So, T⃗ (t) = cos t ⃗i + − sin t ⃗j + k
5 5 5
Find unit normal vector:
⃗′
⃗ (t) = T (t)
N
∥T⃗ ′ (t)∥
   
− 35 sin t ⃗i + − 35 cos t ⃗j
= r 2  2
− 35 sin t + − 53 cos t
   
− 53 sin t ⃗i + − 53 cos t ⃗j
= r 
2
3
5
   
− 53 sin t ⃗i + − 53 cos t ⃗j
= 3
5

So, N⃗ (t) = (− sin t)⃗i + (− cos t)⃗j

page 25
Find unit binormal vector:
⃗
B(t) = T⃗ (t) × N
⃗ (t)

⃗i ⃗j ⃗k
3 3 4
= cos t − sin t
5 5 5
− sin t − cos t 0
4   4  31
= cos t ⃗i + − sin t ⃗j −
5 5 5 ⃗k

Find torsion:
1 ⃗ ′ (t) · N
⃗ ′ (t)
τ =− B
∥⃗r ′ (t)∥

1 4 4
= − ⟨− sin t, − cos t, 0⟩ · ⟨− sin t, − cos t, 0⟩
10 5 5
1 4 2 4 
=− sin t + cos t 2
10 5 5
4
= − (sin2 t + cos2 t)
50
2
=−
25

2
Therefore, torsion is − .
25

page 26
13. Find T (t), N (t), and B(t) for the given value of t. Then find equations for the osculating,
normal, and rectifying planes at the point that corresponds to that value of t
π
when ⃗r(t) = cos(t)⃗i + sin(t)⃗j + ⃗k; t = .
4
Solution
⃗r ′ (t)
Unit tangent vector: T⃗ (t) =
∥⃗r ′ (t)∥
Consider ⃗r ′ (t) = − sin(t)⃗i + cos(t)⃗j + 0⃗k

∥⃗r ′ (t)∥ = 1

So, T⃗ (t) = − sin(t)⃗i + cos(t)⃗j

π π  π   
At t= : T⃗ = − sin ⃗i + cos π ⃗j
4 4 √ 4√ 4
2 2⃗
= − ⃗i + j
2 √2
√
2 2
= ⟨− , , 0⟩
2 2
⃗′
Unit normal vector: ⃗ (t) = T (t)
N
∥T⃗ ′ (t)∥
− cos(t)⃗i − sin(t)⃗j
=p
(− cos t)2 + (− sin t)2
⃗ (t) = − cos(t)⃗i − sin(t)⃗j
N
π      
At t= : ⃗ π = − cos π ⃗i − sin π ⃗j
N
4 4 √ 4√ 4
2 2⃗
= − ⃗i − j
2
√ √2
2 2
= ⟨− ,− , 0⟩
2 2
Binormal vector: ⃗ = T⃗ × N
B ⃗

⃗i ⃗j ⃗k
= − sin t cos t 0
− cos t − sin t 0

= sin2 t − (− cos2 t)⃗k

⃗
B(t) = ⃗k
π π 
At t= : ⃗
B = ⃗k
4 4

page 27
From ⃗r(t)
π  π  π 
⃗r = cos ⃗i + sin ⃗j + ⃗k
4 √ 4 √ 4
2⃗ 2⃗ ⃗
= i+ j+k
2 2
π 
and N⃗ · ⟨P − P0 ⟩ = 0, P0 = ⃗r
4
Find rectifying plane from
√√
⃗ · ⟨x − 2 2
N ,y − , z − 1⟩ = 0
√ √ √2 √2
2 2 2 2
⟨− ,− , 0⟩ · ⟨x − ,y − , z − 1⟩ = 0
√ 2 2
√   √  2 √  2
− 2 2 2 2
x− + − y− + 0(z − 1) = 0
2 2 2√ 2√
2 2 2 2
− x+ − y+ +0=0
2 √ 4 2 √ 4
2 1 2 1
− x+ − y+ =0
2 √2 √2 2
2 2
− x− y+1=0
2 √ 2
2
− (x + y) = −1
2
2
x+y = √
2
√
x+y = 2

√
So, rectifying plane is x + y = 2

Since osculating plane is a plan consisting of T⃗ and N⃗

Thus, osculating plane:

√ √
⃗ · ⟨x − 2 2
B ,y − , z − 1⟩ = 0
√2 √2
2 2
⟨0, 0, 1⟩ · ⟨x − ,y − , z − 1⟩ = 0
2 2
0+0+z−1=0

z=1

So, osculating plane is z = 1

page 28
Since normal plane is a plan consisting of N⃗ and B⃗

Thus, normal plane:

√ √
2 2
T⃗ · ⟨x − ,y − , z − 1⟩ = 0
√ √ √2 √2
− 2 2 2 2
⟨ , , 0⟩ · ⟨x − ,y − , z − 1⟩ = 0
√  2 2
√  √  2 √  2
2 2 2 2
− x− + y− + 0(z − 1) = 0
2 2 √2 2√
− 2 1 2 1
x+ + y− +0=0
2 2 2
√ 2
2
(−x + y) = 0
2
y−x=0

Therefore, normal plane is y − x = 0.

page 29