Week01 Printable PDF

Functions
Graphs
Visualizing maps
Parametric curves
Tangent lines
MH2100
Chapter I Vector valued functions Mehdi Ghasemi
mghasemi@ntu.edu.sg
August, 2013
Functions
Graphs
Visualizing maps
Parametric curves
Tangent lines
C OURSE OUTLINE (W EEKS 1-7)
Aug. Aug. Aug. Sept. Sept. Sept. Sept.
13, 15 20, 22 27, 29 03, 05 10, 12 17, 19 24, 26
Vector-valued functions and tangent of curves Limits and continuity and partial derivatives Critical points, quadratic forms and Hessian Continuity and differentiability Chain rule and PDE Multiple integrals Constraint optimization and extreme values
Functions
Graphs
Visualizing maps
Parametric curves
Tangent lines
S CHEDULE AND T EXT

Lectures
Tuesdays 10:30 to 12:30, LT23, Thursdays 14:30 to 15:30, LT23.
Q&A
After each lecture.
Tutorials
11 sections, Mondays and Tuesdays at SPMS.
Text book
Calculus of Several Variables
Lecture notes by Fedor Duzhin Calculus Stewart
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Visualizing maps
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Tangent lines
E XAMINATION
The nal grade on this course will depend on three components: Online quizzes (10%). Midterm exam (20%). Final exam (70%).
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A BOUT ONLINE QUIZZES

For the online quizzes, it might be easy to get the answers right by just asking your clever friend. However, you will still benet greatly from making sure that you really understand how these problems are solved because: The quiz questions are carefully chosen such that if you can solve these, then you should have a good understanding of the course syllabus and should also score well on the exams. To underscore the above point, I will include one problem from the quizzes in the midterm exam and also one in the nal exam.
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O UTLINE
Functions Graphs Visualizing maps Parametric curves Tangent lines
Functions
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F UNCTIONS
Denition
A function f is a rule that assigns to each element x in a set D exactly one element, called f (x), in a set E.
The set D is called the domain of f . The set E is called the codomain of f . The set {f (x) : x D} is called the range of f . A function f with domain D and codomain E is denoted by f : D E.
A function f is one-to-one if x = y implies f (x) = f (y).
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F UNCTIONS
Example 1
a
Example 2
@ @
a
Example 3
/
a
/ / G /
G /
d is a function? is one-to-one?
d is a function? is one-to-one?
d is a function?
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G RAPHS
Denition
A function f : A Rm Rn is usually referred to as a map. Value of a map is an n-vector (y1 , . . . , yn ) whose coordinates are called component functions of the map f . The graph of f is the set Gf := {(x, f(x)) : x A}. Note that since A Rm , we have Gf A Rn Rm+n .
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G RAPHS
Example
Let f : R R be a map dened by f (x) = x3 x. Then the only component function is x3 x and Gf = {(x, x3 x) : x R} R2 . The points (1, 0), (0, 0) and (1, 0) are sample point on the graph of f . Illustrating Gf in xy-plane we get:
f(x) = x3 x
6 4 2
-3
-2
-1 -2 -4 -6
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G RAPHS
Example
Consider the function g : R R2 given by g(t) = (cos t, sin t). For instance g(0) = (1, 0), g( 2 ) = (0, 1) and g( ) = (1, 0). The component functions of g are y1 = cos t and y2 = sin t. The graph of g is: Gg = {(t, g(t)) : t R} = {(t, cos t, sin t) : t R} R3 .
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G RAPHS
Example
Consider the function h : R2 R given by h(x, y) = (x + y) sin(x2 + y2 ) arctan(x). The component function of h is y1 = (x + y) sin(x2 + y2 ) arctan(x). The graph of h is: Gh = = {(x, y, h(x, y)) : (x, y) R2 } {(x, y, (x + y) sin(x2 + y2 ) arctan(x)) : (x, y) R2 } R3 .
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C URVES AND SURFACES

Denition
A curve (parametric curve) in Rn is the range of a map f : A Rn , where A R.
A surface in Rn is the range of a map f : A Rn , where A R2 .
Functions
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F REE TOOLS TO VISUALIZE GRAPH OF FUNCTIONS

Try the following tools to plot f (x, y) = sin(x y): WolframAlpha: www.wolframalpha.com Just enter plot sin(x y) Sage Cell Server: sagecell.sagemath.org Enter the following piece of code:
Sage code
var(x y) plot3d(sin(x*y), (x, -3, 3), (y, -3, 3))
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L EVEL CURVES AND CONTOUR PLOTS

Denition
For a function f : R2 R, a level curve of f is the set of solutions of f (x, y) = c for some xed c R. Simply, it is the intersection of Gf with the plane z = c.
Example
Let f (x, y) = x3 2xy + y2 . The level curve corresponding to c = 0 is the solution of the equation x3 2xy + y2 = c = 0. Solving this equation for y we get: y= 2 (2x)2 4x3 2
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The intersection:
The graph of solution:

2
1.5
0.5
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0.5
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A plot consist of a collection of level curves is called a contour plot.
Example
Let g(x, y) = (x + y) sin(x2 + y2 ) arctan x.
Plot: Contour plot:

3
-1
-2
-3 -3 -2 -1 0 1 2 3
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C OMMON USAGE OF CONTOUR PLOTS :

Observation
When the surface is steeper, the level curves are closer.
Cartography:
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V ECTOR FIELDS
A map F : R2 R2 is usually called a vector eld. How we can visualize a vector eld? We can think of F as a rule which to every point (x, y) in plane attaches the vector F(x, y).
Example
Let F(x, y) = (sin x, cos y). Then:
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PARAMETRIC CURVES
Recall that a curve C is the range of a function f : A R Rn . f (t) = (x1 (t), . . . , xn (t)) is called a parametrization of C. The interesting case is where A = [a, b] is a closed interval and x1 (t), . . . , xn (t) are continuous. If f (a) = f (b), then the curve C is called a closed curve:
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E XAMPLE
Taking the curve f : [0, 1] R2 given by f (t) = (t cos 15t, t sin 15t), we plot the points f (t) for t [0, 1].
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E XAMPLE
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E XAMPLE
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E XAMPLE
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E XAMPLE
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E XAMPLE
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E XAMPLE
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E XAMPLE
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E XAMPLE
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E XAMPLE
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E XAMPLE
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E XAMPLE
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E XAMPLE
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E XAMPLE
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E XAMPLE
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E XAMPLE
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E XAMPLE
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E XAMPLE
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E XAMPLE
Functions
Graphs
Visualizing maps
Parametric curves
Tangent lines
E XAMPLE
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Parametric curves
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VARIOUS PARAMETRIZATION
A curve can have many different parametrizations:
Example
Consider the unit circle x2 + y2 = 1. An obvious parametrization is f (t) = (x1 (t), y1 (t)): x1 (t) = cos t y1 (t) = sin t, where t [0, 2 ]. There are many other parametrizations for the same curve such as g(s) = (x2 (s), y2 (s)) x2 (s) = cos(s3 + 1) y2 (s) = sin(s3 + 1), where s [1, 3 2 1].
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These parametrizations are equivalent. Why? 2 First note that x2 and y2 satisfy the equation x2 2 + y2 = 1: cos2 (s3 + 1) + sin2 (s3 + 1) = 1. Also, the image of [1, 3 2 1] under s3 + 1 covers [0, 2 ]: Suppose that t = s3 + 1 then we have: 1 s 3 2 1 3 1 s 2 1 1 + 1 s3 + 1 (2 1) + 1 0 s3 + 1 2 0 t 2.
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Consider the following curve: x3 (u) = cos(sin u) y3 (u) = sin(sin u). Is this a parametrization of the unit circle? 2 x3 and y3 satisfy x2 3 + y3 = 1, but if we take t = sin u: < u < 1 sin u 1 1 t 1. The range of the map sin : R R is [1, 1] which does not cover the whole interval [0, 2 ]. Therefore (x3 (u), y3 (u)) is not a parametrization of the unit circle.
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Question
Let f : R R be an arbitrary continuous function. Then its graph Gf represents a curve in xy-plane. Can we describe the curve Gf as a parametric curve?
Answer
Yes. Recall that Gf = {(x, f (x)) : x R}. If we take x(t) = t and y(t) = f (t), then the map t (x(t), y(t)) = (t, f (t)), always gives a parametrization for Gf .
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3
Example
Consider the half parabola 1 x2 y2 = 1, x 0. Note that the equation actually forces x 1 0 and y can be any real number. -1 Recall that 1 + tan2 t = sec2 t -2 and for t ( 2 , 2 ), 1 sec t < and -3 1 0 < tan t < . Therefore, x(t) = sec t y(t) = tan t,
for t ( 2 , 2 ) is a parametrization of the half parabola.
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Moreover, cosh2 t sinh2 t = 1, where sinh t = cosh t = Therefore

et et 2 , et +et 2 ,
< sinh t < 1 cosh t < .
x(t) = cosh t y(t) = sinh t,
t R is another parametrization of the half parabola.
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PARAMETRIZATION OF A STRAIGHT LINE

Let be the line passing through P1 = (x1 , y1 ) and P2 = (x2 , y2 ). For every point P = (x, y) = P1 on , PP1 and P2 P1 have the same direction, so PP1 = tP2 P1 , In the other hand: (x x1 , y y1 ) = t(x2 x1 , y2 y1 ), or (x, y) = (x1 , y1 ) + t(x2 x1 , y2 y1 ). t R.
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TANGENT LINE TO A CURVE

Consider f : R R2 , where f (t) = (x(t), y(t)) and x(t), y(t) are differentiable at t = a. Draw the secant line passing through the points (x(a), y(a)) and (x(a + h), y(a + h)) and observe what happens when h 0.
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Functions
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Tangent lines

Functions
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Tangent lines

Functions
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The parametric equation of such a secant line for h = 0, is (x, y) = (x(a), y(a)) + t (x(a + h) x(a), y(a + h) y(a)) , as we saw. Since h = 0 the following gives another parametrization of the same secant line: (x, y) = (x(a), y(a)) + t x(a + h) x(a) y(a + h) y(a) , h h .
Letting h 0 we get:
Tangent line at t = a:
(x, y) = (x(a), y(a)) + t x (a), y (a) . The vector (x (a), y (a)) represents the direction of the tangent line.
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The parametrization of the tangent line to the curve (x(t), y(t)) at t = a is: x(a) + tx (a) (1) y(a) + ty (a).
Proposition
The equation of the tangent line at x = a to y = f (x) is y = f (a) + f (a)(x a). This agrees with the parametric equation of the tangent line to the curve x = t y = f (t), at t = a.
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Proof:
By (1) the parametric equation of the tangent line to the curve t (t, f (t)) is: a+t1 f (a) + t f (a). since t = 1. Changing t t + a, the parametrization of the line y = f (a) + f (a)(x a) is: t+a f (a) + f (a)t, which completes the proof.
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Example
Let C be the unit circle and consider the parametrization t (cos t, sin t). We already know from basic geometry that a tangent line to the circle is perpendicular to the corresponding radius. Lets compare our result with this fact: By (1) at a given point x = cos a, y = sin a, the equation of the tangent line is: cos a t sin a sin a + t cos a. Therefore the direction of the tangent line at point (x, y) = (cos a, sin a) is ( sin a, cos a) or (y, x) which represents a vector orthogonal to (x, y), as expected.
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Example
The parametric equation of a tangent line to the curve t (t cos(4t), t sin(4t)) at point t = a is: a cos(4a) + t (cos(4a) 4a sin(4a)) a sin(4a) + t (sin(4a) + 4a cos(4a)).
2
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Functions

C OURSE OUTLINE (W EEKS 1-7)

Aug. Aug. Aug. Sept. Sept. Sept. Sept.

13, 15 20, 22 27, 29 03, 05 10, 12 17, 19 24, 26

S CHEDULE AND T EXT

A BOUT ONLINE QUIZZES

Functions Graphs Visualizing maps Parametric curves Tangent lines

A function f is one-to-one if x = y implies f (x) = f (y).

C URVES AND SURFACES

A surface in Rn is the range of a map f : A Rn , where A R2 .

F REE TOOLS TO VISUALIZE GRAPH OF FUNCTIONS

L EVEL CURVES AND CONTOUR PLOTS

L EVEL CURVES AND CONTOUR PLOTS

The graph of solution:

L EVEL CURVES AND CONTOUR PLOTS

Plot: Contour plot:

C OMMON USAGE OF CONTOUR PLOTS :

for t ( 2 , 2 ) is a parametrization of the half parabola.

Moreover, cosh2 t sinh2 t = 1, where sinh t = cosh t = Therefore

< sinh t < 1 cosh t < .

x(t) = cosh t y(t) = sinh t,

t R is another parametrization of the half parabola.

PARAMETRIZATION OF A STRAIGHT LINE

TANGENT LINE TO A CURVE

TANGENT LINE TO A CURVE

TANGENT LINE TO A CURVE

TANGENT LINE TO A CURVE

TANGENT LINE TO A CURVE

TANGENT LINE TO A CURVE

TANGENT LINE TO A CURVE

TANGENT LINE TO A CURVE

TANGENT LINE TO A CURVE

TANGENT LINE TO A CURVE

TANGENT LINE TO A CURVE

TANGENT LINE TO A CURVE

TANGENT LINE TO A CURVE

TANGENT LINE TO A CURVE

TANGENT LINE TO A CURVE

TANGENT LINE TO A CURVE

TANGENT LINE TO A CURVE

TANGENT LINE TO A CURVE

TANGENT LINE TO A CURVE

TANGENT LINE TO A CURVE

TANGENT LINE TO A CURVE

TANGENT LINE TO A CURVE

TANGENT LINE TO A CURVE

TANGENT LINE TO A CURVE

TANGENT LINE TO A CURVE

TANGENT LINE TO A CURVE

TANGENT LINE TO A CURVE

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