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Michael Wang
1. Basic Calculus of Vector-Valued Functions
Definition 1. (Limit of a Vector-Valued Function). A vector-valued function r(t) approaches
the limit u (a vector) as t approaches t0 if limtt0 kr(t) uk = 0. In this case, we write
lim r(t) = u
tt0
Continuity of vector-valued functions is defined in the same way as in the scalar case.
Definition 2. A vector-valued function r(t) = hx(t), y(t), z(t)i is continuous at t0 if
lim r(t) = r(t0 )
tt0
Differentiation Rules
Assume that r(t), r1 (t), and r2 (t) are differentiable. Then
Sum Rule: (r1 (t) + r2 (t))0 = r01 (t) + r02 (t).
Constant Multiple Rule: For any constant c, (cr(t))0 = cr0 (t)>
Product Rule: For any differentiable scalar-valued function f (t),
d
(f (t)r(t)) = f (t)r0 (t) + f 0 (t)r(t)
dt
Chain Rule: For any differentiable scalar-valued function g(t),
d
r(g(t)) = g 0 (t)r0 (g(t))
dt
1
Theorem 3. (Product Rule for Dot and Cross Products). Assume that r1 (t) and r2 (t) are
differentiable. Then
d
r1 (t) r2 (t) = r1 (t) r02 (t) + r01 (t) r2 (t)
Dot Products: (2)
dt
d
r1 (t) r2 (t) = r1 (t) r02 (t) + r01 (t) r2 (t)
Cross Products: (3)
dt
3. Vector-Valued Integration
The integral of a vector-valued function can be defined in terms of Riemann sums. We will define it
more simply via componentwise integration. In other words,
Z b DZ b Z b Z b E
r(t)dt = x(t)dt, y(t)dt, z(t)dt
a a a a
Theorem 4. If R1 (t) and R2 (t) are differentiable and R01 (t) = R02 (t), then
R1 (t) = R2 (t) + c