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916 CHAPTER 13. Vector Functions
(a) Find a polynomial P = P(x) of degre 5 such
77. The DNA molec his the shape f a double Heli (8 Se ete that te
Figure 1113) The rads ofeach heli is about 1Oamgstoms
(1A ~ 10 em) Each els ses about 4 A during each 0 itr 1
is continuous and has continuous slope ad cmtingey
curvature
FA (b) Graph F
stmoothly oa tack along
13.4 | Motion in Space: Velocity and Acceleration
In this section we show how the ideas of tangent and normal vectors and curate
can be used in physics to study the motion of an object—including its velocity ang
acceleration—along a space curve. In particular, we follow in the footsteps of Newtonby
using these methods to derive Kepler’s First Law of planetary motion :
W Velocity, Speed, and Acceleration
Tt =F) Suppose a particle moves through space so tha its position vector at time ris), Nake
from Figure that, for small values of fh, the vector
rit + h) = ro)
a h
approximates the direction ofthe particle moving along the curve r(i) ts magnitude ne
sur the sizeof the displacement vector per unit time, The vector (1) gives the aie
locity over a time interval of length h and its limit is the velocity vector vi) atime t
ses Wo
FIGURE 1 a
a, ro)
Thus the velocity vector is also
bent line, “207 also the tangent vector and points in the direction ofthe
The speed of the pa i
: [sth api ms he magne of he vets ee i
ompare to Equation 10.2.8, where ate because, from (2) and from fion “we have
we defined speed for plane pare rom Equation 13.3.7, we ha
ry
EXAMPLE 1 7),
he position vector o
HO = P14 25 Find ite of an object moving in a plane is given by
clocity, speed, a
ee S10- Speed, and acceleration when f= 1 and illest
souumi
ON The velocity and acceleration attime
tare
MOF) = 3b + ay
a) = eG) = 614 + 25 FIGURE
gue 3 shows the path ofthe par-
tein xample 2 with the velocity
{daceleration vectors when
yo
1
FIGURE3
The expression fre) that we
btained in Example 3 was used t0
loth path of the particle in
Fue ford < 123,
SECTION 13.4 Motioninpace:Veoctyand Acceleration 917
and the speed is
|v] = GFP GF = ora
When f= 1, we have
WI=314+ 25 a= ort2y [= VI
‘These velocity and acceleration vectors are shown in Figure 2. .
EXAMPLE 2 Find the velocity, acceleration, and speed ofa particle with positon
vector r() = (i.e ').
SOLUTION vl) = FW) = (2h e' (1 + De’)
a) = Vi) = (2.04 (2 + Ne!)
[vio | = Var er Pe .
NOTE Earlier in the chapter we saw that a curve can be parametrized in different ways
but the geometrie properties of a curve—arc length, curvature, and torsion—are indepen
dent ofthe choice of parametrization. On the other hand, velocity, speed, and acceler
tion do depend on the parametrizations used. You can think of the curve as a road and &
parametrization as describing how you travel along that road. The length and curvature
Of the road do not depend on how you travel on it, but your velocity and acceleration do.
“The vector integrals that were introduced in Section 13.2 can be used to find position
vectors when velocity or acceleration vectors are known, as inthe next example.
(10,0) with initial
ity
EXAMPLE3 A moving panicle starts at an intial position (0)
velocity v(0) = i — J+ K. Its acceleration is al) = 4ri + 6rJ + bk Find its vel
nd position at time
SOLUTION Since a(t) = v1), we have
w= [aod= fants ou +e
a wiear]+inse
so dxmine the vale te constr yest, we we the fat hat) ==
Tse gegion ges WO) =C.20C “T= J + Kand
wo sree ind tk
ars Mn+ Gr DFU DR
since (= #4, Ne hve
v= fina
= fiers pie oe ner Dele
= (jet dite ope et dkED
oning#~ 0, inl ht = x)= Ls pst at ine en by
r= Greet ise 05+ Qe tok . syneiinater om Equations 4
eile that yis a quadratic
(Exronaf So the path ofthe
pete part of parabola.
SECTION 13.4 Motionin Space:Velocty and Acceleration 919
Ive write | vl = othe intial speed ofthe projet, hen
Ye neon ai + wsin a
and Equation 3 becomes :
ri
(wycos ari + [losin ale — toe]
The parametric equations ofthe trajectory are therefore
By azine, thm |
(meosay y= (aysin ae
The horizontal distance dis the vale of x when y
(2rysin a/a This second value of then gives
0. Setting y = 0, we obtains = 0
2m sina _ wi(2sine cosa) _ nisin 2
¢ 9
Clearly, d has its maximum value when sin 2er = 1 thats, = 45°. .
a
(9, c08 a)
EXAMPLE A projectile is fired with initial speed 150 m/s and angle of elevation 30°
from a position 10 m above ground level. Where does the projectile hit the ground, and
‘with what speed?
SOLUTION Ife place the origin at ground level, then the initial position of the
projectile is (0, 10) and so we need to adjust Equations 4 by adding 10 to the expres-
sion for y. With » = 150 m/s, = 30°, and g = 9.8 m/s", we have
150 0s(30°)r
10 + 150 in@30ry — 98)" = 10 + 751 = 49°
syS0
Impact oceurs when y = 0, that is, 4.9/2 — 751 = 10 = 0. Using the quadratic formula
to solve this equation (and taking only the positive value of 1), we get
75 + V565 + 196
= 1544
oR
‘Then x ~ 75Y3(1544) ~ 2006, so the projectile hits the ground about 2006 m ava.
‘The velocity ofthe projectile is
Vd) = = SV + (75 ~ 9805
So its speed at impact is
[vs]
¥ (73 — 98+ 15.44) ~ 151 m/s .
(75 3
tm Tangential and Normal Components of Acceleration
{When we study the motion of a particle, its often useful to resolve the acceleration into
eens ponents one in the direction of the tangent and the oer inthe direction ofthe
ermal Irwe waite ¢ = [¥| forthe speed of the particle, then
Eo
Fol
10) =
and so. yout 920 CHAPTER 13 VectorFunctions
if we itferesiate both sides ofthis equation with respect 0, we get
a
I we use the expression for the eu
(T+ oT"
rvature given by Equation 13.3.9 then we hing
pe eyes co i= ee
a reesei
“The unit normal vector was defined in Sect
= [TIN = «oN
jon 13.3 as N
"|, 0 (6) gives
and Equation 5 becomes
yT + «oN
\Weiting ay and ay for the tangential and normal components of acceleration, we hae
arT + ayN
where
@ ar=e and ay= xo"
FIGURE? “This resolution i illastrated in Figure 7
Le’ look at what Formula 7 says. The first thing to notice i that the binorml vee
Bis absent. No matter how an object moves through space, its acceleration always list
the plane of T and N (the osculating plane). (Recall that T gives the direction of tio
‘and N points in the direction the curve is turning.) Next we notice thatthe tangsti
‘component of acceleration iso, the rate of change of speed, and the normal compne
‘of acceleration is xe, the curvature times the square of the speed. This makes sensi
think of a passenger in a ear—a sharp tur in a road means a large value of the curate
‘0 the component of the acceleration perpendicular to the motion is large alt= P
Senger is thrown against the ear door. High speed around the turn has the same ee
fact, i you double your speed, ay is increased by a factor of 4.
Although we have expressions forthe tangential and normal components f="
tion in Equations 8, i's desirable to have expressions that depend only on fs F'aMl"
‘To this end we take the dot product of v = wT with a as given by Equation T:
Yea=oT-(0'T + «v'N)
= wT T+ KOT N
Therefore eel (since T+ T = 1 and T- N= 0)
a arm of = 8 OO
ere
Using the formula for
ing the formula for curvature given by Theorem 13.3.10, we have
ayn eo = LOX OL yp. Ox ee
iro? Try)? = Tro! ‘SECTION 13.4 Motionin Space: Velocity and Acceleration 921
EXAMPLE? A particle moves with positon funtion r) 1°). Find the
tangential and normal components of acceleration.
SOLUTION n= Pie p+ Ok
F() = Wit Uj + 3K
HW) = 21425 + 6k
Ie] = VBE OF
‘Therefore Equation 9 gives the tangential component as
Hort) a 8
[rol vbr + OF
rye |
Since Fin xe) =| 21 2 38) = 6 E61
22 oF
Equation 10 gives the normal component as
wx rw!
iro
6y7e
oF
i Kepler's Laws of Planetary Motion
We now describe one of the great accomplishments of calculus by show
‘material of this chapter can be used to prove Kepler’ laws of planetary motion. After
20 years of studying the astronomical observations of the Danish astronomer Tycho
Brahe, the German mathematician and astronomer Johannes Kepler (15711630) formu:
lated the following three laws.
Kepler's Laws
1. A planet revolves around the sun in an elliptical orbit withthe sun atone focus.
12. The line joining the sun toa planet sweeps out equal areas in equal times.
3, The square of the period of revolution ofa planet is proportional to the cube of
the length of the major axis ofits orbit.
In his book Principia Mathematica of 1687, Sir sage Newton was able to show that
hove three laws are consequences of two of his own laws, the Second Law of Motion and
The Law of Universal Gravitation. In what follows we prove Kepler's Fist Law. The
Temaining laws are left as exercises (with hints.
‘ance the gravitational force ofthe sun on a planet isso much larger than the forces
cexerta by other celestial bodies, we can safely ignore all bodies in the universe except the
cacti one planet revolving about it. We use a coordinate system with the sun a the
Mal we let F~ #() be the position vector ofthe plane. (Equally well, r could be
stor ofthe moon oF satellite moving around the earth oF a comet moving
cri
the position ve 910 CHAPTER 13. ectorFunctions
mula 3 of Theorem 13.2.3 t0 differentiate T:
We use For
ee a
TO TR EA Grey Ory
‘The point (1, 0, 1) corresponds to = 1, so we have
TU) = Me v2-D
BU) = TH) x ND
and, by Formula 9, the curvature is
wy = PW 2/2
Ole aaa
‘We could also use Theorem 10 to compute x(1); you ean check that we get the sane
answer. .
‘The plane determined by the normal and binormal veetors N and B at a point Pees
curve C is called the normal plane of C at P. It consists of all lines that are onthage
to the tangent yector'T, The plane determined by the vectors T and N is alld ew"
lating plane of C at P, (See Figure 8.) The name comes from the Latin osc, m2
ing “kiss.” It isthe plane that comes closest to containing the part of the curve 92 F
(For aplane curve, the osculating plane is simply the plane that contains the cure)
‘The circle of curvature, or the osculating circle, of C at P is the circle in tees
ing plane that passes through P with radius I/ic and center a distance 1/ from Pi
the vector N. The center of the circle is called the center of curvature of Cat P Wes?
think of the cirele of curvature as the circle that best describes how C behaves net?
shares the same tangent, normal, and curvature at P. Figure 9 illustrates two cits
FIGURE 8 curvature fora plane curve. thee
FIGURE
EXAMPLE Find equations of the
si
Example 6 atthe point P(0, 1, /2),
‘Normal plane and oscutating plane of th
