Chapter 5: Vector Valued-Function & Vector

Fields

5.1 Vector-Valued Function

 Vector functions
 Calculus of vector functions
 Unit tangent vector and unit normal vector
 Velocity and acceleration

5.2 Scalar & Vector Fields

 Scalar Fields
 Vector fields
 Gradient of a Scalar Fields
 Directional Derivative of a Scalar Fields
 Divergence and curl of Vector Fields
 Properties of Del

1
5.1 Vector valued functions

Revision
A vector is a quantity which has magnitude and
direction.

1. Standard unit vectors are :

i which is a unit vector in the positive x-axis
direction
j which is a unit vector in the positive y-axis
direction
k which is a unit vector in the positive z-axis
direction

2. Given a vector v  v1i  v2 j  v3k , then its

length (or magnitude) is
‖𝐯‖ = √𝑣12 + 𝑣22 + 𝑣32

3. If vectors 𝒂 = 𝑎1 𝐢 + 𝑎2 𝐣 + 𝑎3 𝐤 and
𝐛 = 𝑏1 𝐢 + 𝑏2 𝐣 + 𝑏3 𝐤 then
(i) 𝐚 ∙ 𝐛 = ‖𝐚‖‖𝐛‖ cos 𝜃
= 𝑎1 𝑏1 + 𝑎2 𝑏2 + 𝑎3 𝑏3 (a scalar)

2
 𝐢 𝐣 𝐤
(ii) 𝐚 × 𝐛 = |𝑎1 𝑎2 𝑎3 |
𝑏1 𝑏2 𝑏3
𝑎2 𝑎3 𝑎1 𝑎3 𝑎1 𝑎2
= |𝑏 𝑏 | 𝐢 − |𝑏 𝑏 | 𝐣 + |𝑏 𝑏2 | 𝐤
2 3 1 3 1

4. Unit Vector

Unit vector is a vector with magnitude 1. Unit

vector u which is parallel to vector
v  v1i  v2 j  v3k is
v
u
v

If all components of a vector are constants, then the

vector is called a constant vector.
Example: 𝒂 = 3𝐢 − 2𝐣 + 4𝐤

If we introduce another variable, let’s say t (which is

known as parameter), then we have a vector-valued
function.
Example: 𝒂(𝑡) = 3𝑡𝐢 − 2𝑡𝐣 + (4 − 𝑡)𝐤

or in general as 𝒂(𝑡) = 𝑓 (𝑡)𝐢 + 𝑔(𝑡)𝐣 + ℎ(𝑡)𝐤

3
Vector Valued Functions and Space Curve

A vector-valued function (or simply a vector

function) is a function whose domain is a set of real
numbers and whose range is a set of vectors.

Vector function 𝐫(𝑡):

𝐫(𝑡) = 𝑓(𝑡)𝐢 + 𝑔(𝑡)𝐣 + ℎ(𝑡)𝐤

= 〈𝑓(𝑡), 𝑔(𝑡), ℎ(𝑡)〉

where 𝑓, 𝑔, and ℎ are real functions called the

component functions of 𝐫, and 𝑡 is the independent
variable (time).

A curve in space can be represented as a vector-

valued function
𝐫(𝑡) = 〈𝑓 (𝑡), 𝑔(𝑡), ℎ(𝑡)〉 = 𝑓 (𝑡)𝐢 + 𝑔(𝑡)𝐣 + ℎ(𝑡)𝐤

or as a set of parametric equations

𝑥 = 𝑓 (𝑡), 𝑦 = 𝑔(𝑡), 𝑧 = ℎ(𝑡)

4
Writing a Vector-Valued Function for the Curve
in the xyz-space

The intersection curves between two surfaces can be

represented by vector-valued function.

The process begins by introducing one parameter t

that relates the variables x, y and z in these surfaces.

Note: (i) the way to introduce t is not fixed.

(ii) the parametric equations are not unique,
which means that the curve can be
represented using more than one vector-
value functions.

Example:
(i) Find a vector-valued function to represent
the intersection curve between the
hemisphere z  4  x 2  y 2 and the
parabolic cylinder y  x 2 .

(ii) Find the intersection curve between the

sphere x 2  y 2  z 2  13 and the plane y  2 .

(iii) Find the vector valued function of the

intersection curve between paraboloid
𝑧 = 𝑥 2 + 𝑦 2 and the plane 𝑥 − 𝑦 = 0

5
Graph of a vector function
Let 𝐫(𝑡) be a vector function, and suppose the initial
point of the vector 𝐫(𝑡) is at the origin. The graph of
𝐫(𝑡) is the curve traced out by the terminal point of
the vector 𝐫(𝑡) as 𝑡 varies over the domain set D.

Consider a particle moving through space during time

interval 𝐼. The coordinates are seen as functions
defined as:
𝑥 = 𝑓 (𝑡), 𝑦 = 𝑔(𝑡), 𝑧 = ℎ(𝑡), 𝑡 ∈ 𝐼

The points (𝑥, 𝑦, 𝑧) = (𝑓(𝑡), 𝑔(𝑡), ℎ(𝑡)) make up the

curve in space, called the particle’s path.

When 𝑡 = 𝑎, the vector valued function

𝐫(𝑡) = 𝑓(𝑡)𝐢 + 𝑔(𝑡)𝐣 + ℎ(𝑡)𝐤
will represent a position vector
𝐫(𝑎) = 𝑓 (𝑎)𝐢 + 𝑔(𝑎)𝐣 + ℎ(𝑎)𝐤
which is a constant vector.

6
Examples: Sketch the graph of the vector function
1. 𝐫(𝑡) = 𝑡𝐢 + 𝑡 2 𝐣

2. 𝐫(𝑡) = 3 sin 𝑡 𝐢 − 3 cos 𝑡 𝐣 + 2𝐤

7
A Straight line in the xyz-space

Say a straight line in space passes through a point

A(a1 , a2 , a3 ) and parallel to a given vector
d  d1i  d 2 j  d 3k .

A vector valued function representing the straight

line can be obtained through a formula given by
r (t )  OA  td

where t is a parameter.

Example:
(a) Sketch the straight line
r (t )  (3  t )i  3tj  (3t  4)k and the position
vectors r (0) and r (3) .

(b) Find a vector valued function of a straight line

which is parallel to vector d  i  2 j  3k and
passes through the point (1,0,3) .

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Operations Involving Vector Valued Function

Given vector valued functions F and G, one real

variable t, and a scalar function  (t ) , then

Vector function

(F+G)(t) = F(t) + G(t)

(F-G)(t) = F(t) –G(t)
(  F)(t) =  (t ) F(t)
(F G)(t) = F(t)  G(t)

Scalar function
(F.G)(t) = F(t) . G(t)

example: If F(t) = t 2 i + (t-3)j+3k and

G(t)= et i + tk , find
(i) (F+G)(t)
(ii) et G(t)
(iii) (F G)(t)
(iv) F  G (t )

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The Derivative of a Vector Valued Function
Given a vector-valued function

𝐫(𝑡) = 𝑓 (𝑡)𝐢 + 𝑔(𝑡)𝐣 + ℎ(𝑡)𝐤

with parameter t, then
𝑑𝐫 𝑑𝑓 𝑑𝑔 𝑑ℎ
= 𝐢+ 𝐣+ 𝐤
𝑑𝑡 𝑑𝑡 𝑑𝑡 𝑑𝑡

Example: Differentiate r(t) = 3t i + sin t j + et k with

respect to t.

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Higher Degree Derivatives of a Vector Valued
Function

If 𝐫(𝑡) = 𝑓 (𝑡)𝐢 + 𝑔(𝑡)𝐣 + ℎ(𝑡)𝐤, then

First derivative:
𝑑𝐫 𝑑𝑓 𝑑𝑔 𝑑ℎ
= 𝐢+ 𝐣+ 𝐤 = 𝑓′(𝑡)𝐢 + 𝑔′(𝑡)𝐣 + ℎ′(𝑡)𝐤
𝑑𝑡 𝑑𝑡 𝑑𝑡 𝑑𝑡

Second derivative:
𝐫′′(𝑡) = 𝑓′′(𝑡)𝐢 + 𝑔′′(𝑡)𝐣 + ℎ′′(𝑡)𝐤

Third derivative:
𝐫′′′(𝑡) = 𝑓′′′(𝑡)𝐢 + 𝑔′′′(𝑡)𝐣 + ℎ′′′(𝑡)𝐤

Example: Find the second and third derivate of the

vector valued function r(t) = 3t i + sin t j + et k

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Differentiation Rules For a Vector Valued
Function

If c is a constant, f is a scalar function , u(t) and v(t)

are the vector valued functions, then

d du
1. {cu}  c
dt dt

d df du
2. { f  u}   u  f 
dt dt dt

d
3. u  v   du  dv
dt dt dt

d du dv
4. {u  v}  v u (scalar)
dt dt dt

d du dv
5. {u  v}   v u
dt dt dt

6. If r is a differentiable function of t, and t

is a differentiable function of s, then
dr dr dt
  (the chain rule)
ds dt ds

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Integrating a Vector Valued Function

If 𝐫(𝑡) = 𝑓(𝑡)𝒊 + 𝑔(𝑡)𝒋 + ℎ(𝑡)𝒌 is a vector valued

function in the xyz-space, then

∫ 𝐫(𝑡) 𝑑𝑡 = ∫ 𝑓(𝑡)𝑑𝑡 𝒊 + ∫ 𝑔(𝑡)𝑑𝑡 𝒋 + ∫ ℎ(𝑡)𝑑𝑡 𝒌

Properties of the Integrals for a Vector Valued

Function
b b
1.  cr (t )dt  c  r (t )dt
a a

b b b
2.  [r1 (t )  r2 (t )]dt =  r1 (t)dt +  r2 (t)dt
a a a

d
3.  r (t )dt   r (t )
dt

4.  r' (t )dt  r(t )  C

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The Tangent Vector

Suppose 𝐫(𝑡) = 𝑓(𝑡)𝒊 + 𝑔(𝑡)𝒋 + ℎ(𝑡)𝒌 be a vector

valued function of curve in xyz-space and it is
differentiable at 𝑡0 and 𝐫′(𝑡) ≠ 0. Then 𝐫′(𝑡0 ) is
defined to be a tangent vector to the graph 𝐫(𝑡) at the
point where 𝑡 = 𝑡0 .

The initial point of the tangent vector starts on the

curve 𝐫(𝑡) at point 𝑡 = 𝑡0 and parallel to the tangent
line of the curve at that point.

𝐫(𝑡0 ) = 𝑓(𝑡0 )𝒊 + 𝑔(𝑡0 )𝒋 + ℎ(𝑡0 )𝒌 is the position

vector at 𝑡 = 𝑡0 , and
𝒓′ (𝑡0 ) = 𝑓′(𝑡0 )𝐢 + 𝑔′(𝑡0 )𝐣 + ℎ′(𝑡0 )𝐤
is the tangent vector at 𝑡 = 𝑡0 .
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Example: Find the equation of the tangent line of the
curve given by 𝐫(𝑡) = 2𝑡𝐢 + 2𝑡 2 𝐣 + 𝑡𝐤 at 𝑡 = 2.

Unit Tangent Vector denoted as T(t) is a unit

vector that is parallel to the tangent vector r ' (t ) of a
vector valued function
r = r (t ) .
r ' (t )
T (t ) 
r ' (t )

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Orthogonal Theorem of a Vector Valued Function

If a vector valued function r  r (t ) is not zero, is

differentiable and its magnitude is a constant (fix
magnitude), r (t )  k , then , r (t ) and r ' (t ) are
orthogonal and the value of the dot product r (t ) .
r ' (t ) = 0.

Principle unit normal vector is a unit vector parallel

with T' (t ) denoted by N (t ) and given by the formula
T' (t )
N (t ) 
T' (t )

Example: Tutorial 3 Q6(b)

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17
Object’s Motion on a Curve
Say an object moves on a curve in the xyz-space
given by a vector-valued function
r (t)  x(t )i  y (t ) j  z (t )k

 The trace or path of a moving object at anytime

t  t 0 , is given by the position vector r t 0 

 The velocity vector at t  t 0 , denoted by vt 0 , is

given by vt 0   r ' t 0 
 Speed of the object at t  t 0 , is given by
vt 0   r ' t 0 
 The direction of the moving object at t  t 0 is
v t 0 
u
v t 0 
 The acceleration vector at t  t 0 is
at 0   v' t 0   r"t 0 

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Examples:
(a) Find the velocity and the acceleration vectors
of an object moving on a path given by
r t   ti  t 2 j  t 3k at 1,1,1. What is the speed of
the object there?

(b) Find the vector position r (t ) if the velocity

vector v(t )  t 2 i  e 2t j  tk and the position
vector at t  0 is r (0)  i  4 j  k .

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5.2 Scalar and Vector Fields

Scalar Field

Definition: A scalar field is a collection of scalars

assign to each points in the domain of the field that
satisfy a specific rule.

A scalar field z  f ( x, y ) in the xyz-space is a surface

but in the xy-plane it is a set of level curves.

Vector Field

Definition: A vector field is a collection of vectors

assign to each points in the domain of the field that
satisfy a specific formula (rule)

In the xy-plane, the formula may be assigned as

F ( x, y )  M ( x, y )i  N ( x, y ) j

In the xyz-space, a vector field can be assigned as

F ( x, y, z )  M ( x, y, z )i  N ( x, y, z ) j  P ( x, y, z )k

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Example of vector field on xy-plane

Scalar Fields
Given scalar field 𝜙(𝑥, 𝑦, 𝑧), there are two partial
derivatives that involve scalar field 𝜙(𝑥, 𝑦, 𝑧).
(i) Gradients of scalar field
(ii) Directional derivates

21
(i) Gradient of scalar field

Definition:
Let 𝜙(𝑥, 𝑦, 𝑧) be a scalar function that is defined and
differentiable in a region. Then the gradient of 𝜙,
written as grad 𝜙, is defined as
𝜕𝜙 𝜕𝜙 𝜕𝜙
𝐠𝐫𝐚𝐝 𝜙 = 𝛁𝜙 = 𝐢+ 𝐣+ 𝐤
𝜕𝑥 𝜕𝑦 𝜕𝑧

The symbol ∇ is called del (or nabla), is a

mathematical operator, to which by itself has no
geometrical meaning

In 2-D
𝜕 𝜕 𝜕 𝜕
𝛁≡( 𝐢+ 𝐣) = 〈 , 〉
𝜕𝑥 𝜕𝑦 𝜕𝑥 𝜕𝑦
𝜕 𝜕 𝜕𝑓 𝜕𝑓
𝛁𝑓 = ( 𝐢 + 𝐣) 𝑓 = 𝐢+ 𝐣
𝜕𝑥 𝜕𝑦 𝜕𝑥 𝜕𝑦
In 3-D

𝜕 𝜕 𝜕 𝜕 𝜕 𝜕
𝛁≡( 𝐢+ 𝐣 + 𝐤) = 〈 , , 〉
𝜕𝑥 𝜕𝑦 𝜕𝑧 𝜕𝑥 𝜕𝑦 𝜕𝑧

𝜕 𝜕 𝜕 𝜕𝜙 𝜕𝜙 𝜕𝜙
𝛁ϕ = ( 𝐢+ 𝐣+ 𝐤) 𝜙 = 𝐢+ 𝐣+ 𝐤
𝜕𝑥 𝜕𝑦 𝜕𝑧 𝜕𝑥 𝜕𝑦 𝜕𝑧

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Examples:
(i) If 𝑓(𝑥, 𝑦) = 𝑥 2 + 𝑦 2 , find 𝛁𝑓 the point
(0,2).
(ii) If 𝜙(𝑥, 𝑦, 𝑧) = (𝑥 − 1)2 + (𝑦 − 1)2 + 𝑧 2 ,
find 𝛁𝜙 at the point (1,0,0).

Geometrical Interpretation of f ( x0 , y0 )
Scalar field 𝑓(𝑥, 𝑦) is a function of two variables
given as z  f ( x, y ) . Geometrically 𝑧 = 𝑐 = 𝑓 (𝑥, 𝑦)
is a level curves on the xy-plane.

Vector f ( x0 , y0 ) is a normal vector at the point

( x0 , y0 ) which is orthogonal to the tangent line of the
level curve 𝑧 = 𝑓(𝑥, 𝑦) = 𝑐.

Geometrical interpretation of 𝛁𝜙(𝑥0 , 𝑦0 , 𝑧0 )

Geometrically 𝑤 = 𝑐 = 𝜙(𝑥, 𝑦, 𝑧) are sets of level

surface in xyz space.

Vector 𝛁𝜙(𝑥0 , 𝑦0 , 𝑧0 ) is a normal vector to the level

surface 𝑤 = 𝑐 at the point (𝑥0 , 𝑦0 , 𝑧0 ).

23
24
Finding unit normal vector using 𝛁𝜙(𝑥, 𝑦, 𝑧)

Given a level surface 𝜙(𝑥, 𝑦, 𝑧), then

𝛁𝜙(𝑥, 𝑦, 𝑧) is a normal vector to the level surface
𝜙(𝑥, 𝑦, 𝑧). Unit normal vector denoted by 𝐧
∇𝜙
𝐧=‖ ‖
∇𝜙

example: Find the unit normal vector to the level

surface (𝑥 − 1)2 + (𝑦 − 1)2 + 𝑧 2 = 1 at the point
(1,0,0).

25
(ii) The Directional Derivatives of the Scalar Field
f ( x, y )

We have learned how to determine partial derivatives

𝑓𝑥 : derivatives in the x direction
𝑓𝑦 : derivatives in the y direction

Now we want to find the derivative at any given

direction.

Let z  f ( x, y ) be a scalar field and u  u1i  u2 j is a

unit vector at the point P( x0 , y0 ) in the domain f on
the xy-plane.

Directional Derivatives of f ( x, y ) at the point

P( x0 , y0 ) in the direction of u, denoted by Du f is

Du f  f xu1  f y  u2

Since f  f x i  f y j , then
Du f  f  u

Note: The directional derivative Du f is a scalar

26
Example: Find the directional derivatives of z  3x 2 y
in the direction of vector a=3i+4j at the point P(1,2).

example: Find Du f (1,3) of f ( x, y )  e x y 2 in the

direction of PQ , given that P(-1,3) and Q(1,-2).

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Interpretation of Directional Derivatives

(a) Directional derivatives Du f is the slope of a

tangent line.

(b) Directional derivatives Du f is also a value of

the rate of change of f ( x, y ) when a point
moves from P( x0 , y0 , z0 ) in the direction of u.

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The Maximum and Minimum Values of Du f

The value of Du f is the slope of the tangent line at

the point P( x0 , y0 , z0 ) on a 3D surface. At that point
there are infinitely many tangent lines.

Among the tangent lines, which will give the

maximum slope value and which will give the
minumum slope value?
𝐷𝑢 𝑓 = ∇𝑓. 𝐮 = ‖∇𝑓 ‖‖𝐮‖ cos 𝜃 = ‖∇𝑓 ‖ cos 𝜃

Since 1  cos   1, then

(a) The maximum value of Du f = f
(when cos  =1,  =0  ) which is in the direction
of the unit vector u . This means u is in the
same direction of f .
f
u
f

(b) The minimum values of Du f = - f

(when cos  =-1,  =180  ) which means that u is
the in the opposite direction of f .

f
u
f

29
example: Find the maximum value of
Du f (-2,0) of f ( x, y )  x 2 e y . State the
direction of the unit vector as well.

30
The Properties of Vector Field 𝐅(𝑥, 𝑦, 𝑧)

If 𝐅(𝑥, 𝑦, 𝑧) is a vector field given by

𝐅(𝑥, 𝑦, 𝑧) = 𝑀(𝑥, 𝑦, 𝑧)𝐢 + 𝑁(𝑥, 𝑦, 𝑧)𝐣 + 𝑃(𝑥, 𝑦, 𝑧)𝐤
Then ∇𝐅(𝑥, 𝑦, 𝑧) has NO meaning.

Even so, a vector field has two properties involving

∇, and they are the dot-product and the cross-product.

 Divergence of 𝐅(𝑥, 𝑦, 𝑧) = ∇ ∙ 𝐅

 Curl of 𝐅(𝑥, 𝑦, 𝑧) = ∇ × 𝐅

Divergence of 𝐅(𝑥, 𝑦, 𝑧)
∇ ∙ 𝐅 measures how the vectors in the vector field
diverge or move further apart from each other.

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Curl of 𝐅(𝑥, 𝑦, 𝑧)
∇ × 𝐅 measures the rate of circulation of the vector
field around an axis. This axis is a normal vector that
is perpendicular to a circulation plane. In fact, ∇ × 𝐅
is the said normal vector. ‖∇ × 𝐅‖ is its maximum
circulation.

Examples:
Find div F and curl F for the given vector functions.
(a) 𝐅(𝑥, 𝑦, 𝑧) = 𝑥𝑦𝑧𝐢 + 𝑦𝐣 + 𝑥𝐤 at (1,2,3).
(b) 𝐅(𝑥, 𝑦) = 〈1, 𝑥 2 + 𝑦 2 〉

Note: The vector differential operator ∇ only operates

on a scalar field.

Basic rule for the gradient

If A and B are scalar fields, then
1. ∇(𝐴 + 𝐵) = ∇𝐴 + ∇𝐵
2. ∇(𝐴𝐵) = 𝐴(∇𝐵) + 𝐵(∇𝐴)
𝐴 𝐵(∇𝐴)−𝐴(∇𝐵)
3. ∇ ( ) =
𝐵 𝐵2

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Multi-operations involving ∇, ∇ ∙ , ∇ ×

Given a vector function F and a scalar function f,

then

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