?reas, A d v a n c e d Calculus N o t e s 1 4 . 1 A B C Vector-Valued Function: Name H b y Oy B e . (as studied in chapters 10 and 11) A v e c t o r - v a l u e d f u n c t i o n , also r e f e r r e d t o as a v e c t o r f u n c t i o n , is a m a t h e m a t i c a l f u n c t i o n o f o n e o r m o r e variables w h o s e r a n g e is a set o f m u l t i d i m e n s i o n a l v e c t o r s o r i n f i n i t e - d i m e n s i o n a l vectors. The input o f a vector-valued f u n c t i o n could be a scalar o r a v e c t o r . A line or curve in space is an example o f a vector valued function whose input is some parameter ¢ and whose output are vectors whose tips, when connected, form the line o r curve in space. Vector Field: A v e c t o r f i e l d is a t y p e o f v e c t o r - v a l u e d f u n c t i o n . tn v e c t o r calculus, a v e c t o r f i e l d is an assignment o f a v e c t o r t o each p o i n t in a subset o f Euclidean space. A v e c t o r field in t h e plane, f o r instance, can be visualized as a collection o f a r r o w s w i t h a given m a g n i t u d e and d i r e c t i o n each attached t o a point i n t h e plane. V e c t o r fields are o f t e n used t o m o d e l , f o r e x a m p l e , t h e s p e e d a n d d i r e c t i o n o f a m o v i n g fluid t h r o u g h o u t space, o r t h e strength and direction of some force, such as t h e m a g n e t i c o r g r a v i t a t i o n a l f o r c e , as it changes f r o m p o i n t to point. in c o o r d i n a t e s , a v e c t o r f i e l d o n a d o m a i n in n-dimensional Euclidean space can be represented as a vector-valued f u n c t i o n t h a t associates an n-tuple o f real n u m b e r s t o each point o f t h e domain. This r e p r e s e n t a t i o n o f a v e c t o r f i e l d d e p e n d s o n t h e c o o r d i n a t e system, and t h e r e is a well-defined t r a n s f o r m a t i o n law in passing f r o m o n e c o o r d i n a t e system t o t h e o t h e r . V e c t o r fields are o f t e n discussed on open subsets o f Euclidean space, but also make sense on o t h e r subsets such as surfaces, w h e r e t h e y associate an a r r o w t a n g e n t t o t h e surface a t each p o i n t (a t a n g e n t v e c t o r ) . A slope field, as studied in BC Calculus, is a v e c t o r field t h a t assigns to each p o i n t a v e c t o r r e p r e s e n t i n g t h e slope o f t h e c u r v e at t h a t p o i n t . The g r a d i e n t v e c t o r f u n c t i o n is an example o f a v e c t o r fieid t h a t w e have already studied. The gradient v e c t o r f u n c t i o n assigns a v e c t o r t o each p o i n t in 2D o r 3D space. That v e c t o r is composed o f t h e partial derivatives a n d has m e a n i n g w i t h r e g a r d t o d i r e c t i o n o f m o v e m e n t a n d m a g n i t u d e o f greatest increase in t h e f u n c t i o n at t h e given p o i n t . A v e l o c i t y v e c t o r f i e l d describes t h e m o t i o n s of systems o f particles in space. A g r a v i t a t i o n a l v e c t o r f i e l d describes t h e f o r c e o f a t t r a c t i o n exerted on o n e particle by a n o t h e r particle. Examples o f pictures o f v e c t o r fields: a. 2 dimensional slope field of the function f ( x , y)=x+y e 2 the 2 dimensional gradient v e c t o r f i e l d V f ( x , y ) = ( 2 x , 2 y) associated with curve f ( x , y ) = x? +y? . Shown are b o t h the v e c t o r field and s o m e o f the contours o f the function. NNN NAVAL PACER N N NNO E NNN P NNN NUM T e S A N NS U t ~ www IP sitimissys oy 3 m w o e ? k . e o s e C r C S S S S L c. P L E C s e P S Y Y R s e e x e ae, < P e e AR K A PD e d A V az The 3 dimensional vector field F(x, y,z)= 2xi d. Velocity vector field formed by a rotating wheel. e. Velocity v e c t o r field f o r m e d by air f l o w a r o u n d a m o v i n g object. « gravitational vector field that describes the force of attraction exerted on one particle with mass mm, located at p o i n t (x, y , 2 ) by another particle with mass 7 , located at the origin. zz ~ wy ; . @&y,2 WV , yt ?\ Nw ~ ?Samy k m.,i s b o c aaf( nx , ye , 2d) . a n , i s l o c a at te( 0d, 0, 0). aa e Since a v e c t o r field consists o f i n f i n i t e l y m a n y vectors, it's impossible t o s h o w t h e m all. T h e r e f o r e , w h e n i l l u s t r a t i n g a v e c t o r f i e l d , w e will o n l y d r a w a r e p r e s e n t a t i v e sample. W e m i g h t c o n s i d e r d r a w i n g a set o f v e c t o r s w i t h a specific relationship. a. It m i g h t be useful t o consider d r a w i n g a f e w sets o f vectors w i t h t h e same m a g n i t u d e . For e x a m p l e , i f a v e c t o r f i e l d is r e p r e s e n t e d by F ( x , y ) = a@i+ y j , d r a wa set o f vectors w i t h m a g n i t u d e ( F | = k or k = V a ° +b? b. If asked t o d r a w a v e l o c i t y v e c t o r field, you will naturally be limited t o d r a w i n g v e c t o r s at t h e p o i n t s l o c a t e d on t h e m o v i n g object. Ex1: Draw the associated vector field and describe any general qualities of the vector field that you notice: a. b. F ( x , y ) = - i + j F(x,y)=.3i-4j At every p o u t in space, the vector 4 3 - 4 ) Should be d r a w n . Shuld be d r a w n , Bachvects hoy Macnitide \ F ] = 937 4.47 = ye O44.1e 7 y.ld ? bach vectr us At every pont in 2s pace, He vector 1 , 1 7 pracuiiel wh G3-4> 7°? ws Each vechrhav Magnitude [ F i z V i s =t 02 Each veche 1s poraliel t 0 € 1 , 1 9 a _ B(xy)= v i t Mt every e x At every pointin @spwe , drow vechr €24,7 7 pomt in Bspace , draw vester Ly, ¥.> sana" F(x, y)=2xi+yj d. S a v e s bs wagntade ( : boon Gacnvector has Magnitude JF l= Vytex? = K x2ty? = 2 This aeons t h a t a t all p o t s m e r c e x2ry2sk2) t h e veehr drawn will im t e n g i n t o t h e be This equal means t a t cé-all powb on ellipse Elhpse ? , ? ? . f o a t pont(0,-t) r=lond Vechr <=} 0 D Atevery pant iaZspace, d w n <y,-3? yO | f. : Each <0,.57 at (U3)-9 3, 5) (0,0) ?- <o.s5) (a,3:)-5 43,65) Bo) ©,°5) (3,4) 43,5) (01) > ?4.5? (tl) <4,.5) 5 ? (04) ~ 3.5) a (34) longer vectw - 45) €-1, 65) g. e l e s y . 2 ) = - i 4 4 F(x,y,z)=k At every p a n t m d s p a c e , drawZo 7 2) =D e B ? V e d £0,127 r A fl o oeA COU L o at (1,0) > y e t 3 a t p o w t(1,0), c=! E a c h v e c t y h a s Magnitude yrt.25 Gorter. Ahpses h a e at pant (2,0) hese? F(x,y)=yit+.5j e. Sieh 4 _ IF \ = o r we a xhey"=4 e7! the veckr drawn will have the same length. Circles | x rodus of-thatercle a n d b e ine d i r e c t i o n < y , x > e r y = F l e FH a a y =k 2 Fxraxy? = k vector hav l e n g t h 2 7 A t every p o u t in 3 Space ,dmwd-',3 Eacnvecte has l e a g h T a F 5 7 2 ) =2k _ very pout an 3 space, draw <2, 0 , x ) Fac veo hay beagth \el= x i. V(x, y,2) =(16-x? - y ? ) k where x? + y? <16 At panb ot inside x*ty*=I6, QS ts zem onthecircle yoo go t o w o d l t h e o r t g i n . a t ( 4 0 , 0 ) ?» { 0 , 0 , 0 9 (0,9,4) ? <0,0,07 (39,0 ~~? ¢0,9,7 9 ( R o , 0 >) <00,127 (1,00) 9 <0,0,85) (000) > (00,16) (91) > (6,015) Ex. 2 M a t c h t h e v e c t o r fields w i t h t h e i r plots. a. F(x,y)=(y,x) ~ x ?x x ? x x ~~ a x c. F(x, y)=(x-2,x4+1) a e d. T S F(y)=(v4) fos ~s T Y * £ 0 , 0 , i p - x * - yD* Bak vcelr ha keaglh Ifl= f o r o s ( e r y t h e lead,ofthe vector i draw are t e x ? get locgee watch the vector fields with their plots. F(x,y,z)=(1,2,3) a. (all passe vectors ) (Ww) b. F( x , y , z ) = ( 1 , 2 , 2 ) C o r m e xy plane,p o t o p ?below yp l o r e / p o r t down) o~ td) c. F(x, y,z)=(x,y,3) ( a ! pond oy b a t wayne ed duccha® ) iy d. F ( x , y , z ) = ( x , y ,z ) ( s e a , Y) f u n n ove y o ) « t e n t V e c t o r Fields: called a gradient vector field. We know that the gradient function can be used to form one type of vector field | V i ( x y) = £ 0 , y i + £(x, y ) j Therefore V / is really a vector field: on R? and is called agradi ikewi . eg: gradient vector field. Likewise, if f i s a scalar function of three variables, its gradient is a vector field on R° given by V i f (x, y , z) = F ( x , y, z i + F ( x , y, 2 4 + f e y, z ) k Ex. 4 Find, but do not draw, the gradient vector field for each function. a. be Fy f ( x , y ) =xe? xety + e y x e% =e¢ b. ?Ky +1) Sf (x,y) = t a n ( 3 x - 4 y ) f (x,y,z) =xIn(y?-2z) c. f , =3sa*(3x-Hy) = £ f = ?tsa:?(3x-4y> = tetY oo j xy Ke Uv ¥i) a a y-22 me F(x, Y e e ?Gy (2% 4 ty-22) F o n :? ( a t o ( Fay ) ) ) S e e -* ? = £ a e cLiniy.aa), p- > = 3 x > e e e C o n s e r v a t i v e V e c t o r Fields: scalar function, that is, if there exists . _¥@ ?y-ae #87 -s for F = a oaee e e o t a l v e c t o r field F is called a conservative vector field if it is the gradient o f some function f such that F = V f . Inthis situation f is called the potential function Not all vector fields are conservative, but such fields do arise frequently in physics. In example 4 above, we found the conservative vector fields for the potential functions f ( x , y ) o r ( x , y , z ) 7 os. _ e r n a e t A > D E F I N I T I O N OF CONSERVATIVE VECTOR F I E L D y e y e A v e c t o r f i e l d F is c a l l e d c o n s e r v a t i v e i f there exists a d i f f e r e n t i a b l e f u n c t i o n J such that F = Vf. The function f i s called the potential function for F. ?Let.M and N have continuous first partial derivatives onS a p a ISK s , v 7 ce { R. vector field given by F(x, y) = M i + Nj is conservative i f and only i f p o d = . , d e c d V o l a tow of em , e j e cf d e n v ¥ tuft a r of f i a t p t h P e e . + +23 4 This t h e o r e m is based o n t h e u n d e r s t a n d i n g t h a t antiderivatives are needed t o d e t e r m i n e i f t h e c o m p o n e n t s o f t h e v e c t o r field in f r o n t o f y o u r e p r e s e n t t h e partial derivatives o f t h e s a m e p o t e n t i a l f u n c t i o n . Since F(xy M i ~hiy t y . M= f l r ) Fay n y ) a ee =OM ee and ee, N e Fy i g ) ? > Fyx (?4 )? a N av But g ° >Fyy Fx t OM * . aN ay ay Clatauts The <termine whether each vector field is conservative. If it is, find the potential function. F(x,y)=2y'i+3y'"j a. S> fy axy? Be = = x? c e ey . Yer and b. £ o e Bye any? z= By*x? > ( s y ) = z+ dys? a foey) =Hyhek ( 0 1 - 2 ) = oe equialenty 8(4fr?)» = o(ane) =x?y? 4 ed = by On apy / ) y t , - A x y ? > oR. fey? fy=-auy? 2 ey! ge = Oxy? aR oy Zz: vy? =P = d(y) d(-avy*) * Y - ay? z= ax ye = ?ly? (e) Qe) c. f F(x, y ) = e * (cos yi+sin yj) . a Ccoy ae ox ¥ =e etfs ?iny f - ef =€ an TID etsy) Ox 5 - . Cosy Z = easy oe ay (ze 2 - e" sing Seay etsiny = Cue) e*siny e'avy ) oy sical I n t e r p r e t a t i o n o f t h e Curl o f a V e c t o r Field The curl o f a v e c t o r field measures t h e t e n d e n c y f o r t h e v e c t o r field t o s w i r l a r o u n d . Imagine t h a t t h e v e c t o r f i e l d represents t h e v e l o c i t y v e c t o r s o f w a t e r in a lake. If t h e v e c t o r f i e l d swirls a r o u n d , t h e n w h e n w e stick a paddle w h e e l into the water, it w i l l t e n d t o spin. The a m o u n t o f t h e spin w i l l d e p e n d o n how w e o r i e n t t h e paddle. Thus, w e should e x p e c t t h e curl to be v e c t o r valued. To be technical, curl is a vector, w h i c h means it has a both a magnitude and a direction. The magnitude is simply the amount of twisting force at a point. The direction is a little more tricky: it's the orientation o f the axis of y o u r paddlewheel i n order to get maximum rotation. In other words, it is the direction which w i l l give you the most ?free work" from the field. Imagine p u t t i n g y o u r paddlewheel sideways in the whirlpool - it wouldn't turn at all. I f you put it i n the proper direction, i t begins turning. The fact t h a t there is a ?twist? means the field is n o t c o n s e r v a t i v e (this has n o t h i n g to do w i t h its political views). A conservative field is ?fair? in the sense that work needed to move f r o m p o i n t A to p o i n t B, along any path, is the same. For example, consider a river: its field is conservative. Sure, you can get a free ride downstream, b u t t h e n you have to do w o r k to get back to your starting point. Or, you can do w o r k to move upstream, and get a free ride back. Either way, the amount o f work you "put in" is the same as w h a t you get back. However, i n a field w i t h curl (like a whirlpool), you can get a free ride by moving i n t h e d i r e c t i o n o f the twist. I n a w h i r l p o o l , you can get a free t r i p by moving w i t h the current ina circle. I f you fight the current and go the wrong way, you have to use energy w i t h no free ride at all. Conservative fields have zero curl: there are no free twists to push you along. Alternatively, i f a field has curl, it is not conservative. For example, c o n s i d e r this v e c t o r field: F = [ - y , z , 0} It l o o k s l i k e t h i s : B E E B we H E A R 6 K R K R r w HE t K KE K crew eewKSK o cf . r e W O N O - 4 t e we - y+ N ? w e ff O S 2 s= e t e Ame r ww O f e T r %, N Thecurl looks V x F =( like this: 4he d r e n 0 , 02,] T h i s means that anywhere vou stand in this field, you w i l l rotate at around the z-axis. I n physics it would have a a rate o f ?2? more strongly defined meaning, like 2rpni o r something, but that?s not important. T h i s vector field is actually quite interesting for d e m o n s t r a t i n g curl, because o f the fact that its curl is constant. As you can see, the vectors are stronger at the edges. However, because the field just completes a simple circle, the outer edges rotate at the same rate as the i n n e r edges, meaning that you can stand anywhere i n the field and will undergo the same a m o u n t of rotation in a given time. You s h o u l d also note t h a t the curl is a measure of h o w much you w i l l be made to rotate a i f i a t p o i n t , consider the following vector field: F= | -ysin(2}oo0(y), 0 ] I t looks like this: ? ?? ? ' ; ; } ? 4 ? f x x x. ~ o2 9 2 4 Its curl is this: V x F = [ o , 0, - y s i n ( z ) s i n ( y ) + s i n ( z ) c o s ( y ) +3 ] N o w v o u r rate o f r o t a t i o n (still just a r o u n d the z-axis) depends o n where y o u stand. This is obvious by looking at the vector plot above. The d i r e c t i o n o f the vectors are a lot more haphazard, so clearly your r o t a t i o n rate w o n ' t be u n i f o r m . In fact, i f you stand at the point ( c = o n , y = 2 7 ) , there w o n ' t be any curl at all, even t h o u g h you still move i n the vector field. T r y it: For the curl: V x F = [o,9, ? = 2 n t sn ) i s i n ( 2(7 ) + s i n ( m ) c o s ( 2 n ) + 3 [0, 0,0} The curl is zero e v e r y w h e r e in each o f t h e f o l l o w i n g v e c t o r fields. W e will see the g e o m e t r i c i n t e r p r e t a t i o n of Curl later in the chapter. For now. , w e n e e d it to use t h e t h e o r e m b e l o w t o test f o r conservative v e c t o r fields in space. FINITION I f F(x, y,2) = f , y. D i + 8G, y , 2 ) 5 + kG, y, 2 k , then we de- 15.1.5 DE fine the curl o f F, written curl F, to be the vector field given by _(d8_ 9), (38 of alk = ( 2 - H ) i + (F( 9 ) i5, + (2¢_ >) k (8) curl F has vector values (i.e., curl F is itself a vector field). Moreover, for computational purposes it is useful to note that the formula for the curl can be expressed in the determinant form curl F = THEOREM 15.2 TEST FOR CONSERVATIVE VECTOR FIELD IN SPACE Suppose that M, N, and P have continuous first partial derivatives in an open sphere Q in space. The vector field given by F(x, y, 2) = Mi + Nj + Pkis conservative if and only if curl F(x, y, z) = 0. That is, F is conservative i f and only i f ap _ aN ax az? dy aM @P_ |, a _aM N ax az? ay? Ex. 6 Find t h e curl of the v e c t o r field F at the indicated point. a. F ( x , y , 2 z ) = 2 x ° z i ? 2 x yzzj + k at ( 2 , - 1 , 3 ) curl > a 4 dx dy F(x, y b. ? , ¢ a j o a & y xe z e > ( zea) ) Leta, Bean, z s i)n y = i - e *e c o s* y j at ( 0 , 0 , 3 ) Cucl - | a d dz ox [e*smy x72 -2x2 y e y = = , . a s f x2 -4 o-x* 4 ( x ) 2 B ) 7 \ fe o e s } i oa oy Ac k (-az-0 r k / } a gor] - = 7 t(o) 2. ey ae e'cay oO a % . | ?erary o y -e>} 2 % ) bea) = e 8? | 7k 2. 2. i ] a sity o Oo ? a oe + S ein 2% x > §( 0 ) a k ( ~Ccary ? e * cosy) = <4 2, ~aeeayy> loos) 122, 2 7 ? , e w h e t h e r each v e c t o r f i e l d is c o n s e r v a t i v e . If i t is, find t h e p o t e n t i a l f u n c t i o n . em iri p(ane)oe ( i t s i t k ) z } i 59k 4 2 2 2 a ( | 8 = | i / # / & BY 2 5| A OK € ny i(o-de) - j(o-ye} « U e€) (-e ¥) 1 , 0 7 # 0 = hot consentarhue vectorf l l ) e e e b. find curl F(x, y,z) =3x"y"zit 2 x yzjt+ x y k ie | = 2 2 2 [ x Me 2 R l - i ] e e l k ey aye o P tae i l y * we de?ye C (avy arty) ~ J ( B Y = 94 *) w ? This =O f. to = ay? y 2 % fe d a y s fz f e a x yr r y - ?o fr s= 3x4y 22 5 oo Ff x y 2 Oz d y s fz eye qa a k (Ox'ye - e x ' y t ) a cnseuahve v e c t r t e e l d ) FF rerpretation o f the Divergence of a VectorField fa the idea of the divergence of a vector field p o t h the divergencea n gas. Here we focus on t d curl are vector operators whose properties are revealed by viewing a vector field as the flow of a fluid or n of the curl on another page. n read a similar discussio he geometric properties of the divergence; you ca! The divergence of a vector field is relatively easy to understand intuitively. Imagine that the vector field F pictured below givest h e the fluid is exploding outward from the origin. velocity of some f l u i d flow. I t appears that ? . ? . > Xr ~ . - . 9 a t 4 ? ? y ? é ¢ > vif 4 < ¢ es | ? 1° 2 =? a ?we e e = t o n i 2 v « - - o 2 f e S o w 1 * - ca ? , . z i ! i ' 8 ? . « 1 8 so & a ao? ?; ° , r , t ? . This expansion o f fluid flowing with velocity field F is captured by the divergence o f F , which we denote d i v FB. The divergenceo f the above vector field is positive since the flow is expanding. In contrast, the below vector field represents f l u i d f l o w i n g so that i t compresses as j t moves t o w a r d t h e o r i g i n . Sincet h i s o f this vector f i e l d is negative. compression of fluid is the opposite of expansion, the divergence a ? t i t a F ? a 0 ? . ed - ? o - - . . v i e a . a - ~ 4 ? t y @ . -? : e l e ? « e * ? ? a o s 1 a y s a . . ~ . x . 2 The divergence is defined for both two-dimensional vector fields F ( z , y) and three-dimensional vector fields F ( z , y, 2). A threedimensional vector field F showing expansion of fluid flow is shown in the below applet. Again, because of the expansion, we can conclude that div F ( x , y) > 0. a ngenceof vector field simply measures how muuch the flow is expanding at a given point. It does not indicate in which qr? ion the expansion is occuring. Hence (in contrast to the curl o f a vector field), the divergence is a scalar. Once you know the emule for the divergence, it's quite simple to calculate the divergence of a vector 15.1.4 DEFINITION I f F ( x , y , 2 = f . y, D i t 8 2 d . + h(x, y, OK, then we de- fine the divergence o f F, written div F, to be the function given by divF= 50+ By * & _ Ff , 9g, Oh d v F = V - +F5 )=+ 53, Ex. 8 Find the divergence and the curl o f the vector field F(x, «4 = = & a i 2 ( = x7 yl + 2y°2j + 32k 2»): 2 , 2 ? = dw F y.2) 2 9 a " f i s k b k x y, oy? r a ( a e ) s ( v y ) 2 Jry, 5 , @ x | aye a Z U ? c a t y , 2y of h a R S | fye xy dye Bz > = < Se i ( 0 - 4 ) P 37> ay? , 0, - -idxy [ong + 6y%2 & +3 8, [a J R 2] Ky 7 | 2 2TES #@ -4 ( 0 - 9 ) x ) | xy 2ye + k (o-**) ~ 1, 7 divergence and curl of each vectorf i e l d . pnd the F(x, y,2) = X74 ~ 2] + yek dw F = < 8 75 2 > - a Curl F = e e o + 2 dx? p73y t ? 0 2,28 ={fn é o dx x> Ax+O+y 2 = |axty| Cx p A Ve? x y a pg a ) - a e jl ae a / o l ta & 3g 2 (ye) + 5 * -2 y? a (z-9) t = yf x? YE -J ( 0 - 0 ) §¢ aye + k (0-0) re a a e y | j f TET F(x,yz) b. = az'it 2y*x" ft 527yk B d w F = { t , e Cart, 2 0 5 4 \ B a t ) + B ( o e [23 , hye" (a, a , C R ? * ~ L o d 2 2 o x y ne? C52*, 3 0 2 % G u y Carl = > OF 7 wo2y us? 2?) . + 2 2 Set ( 8 4 ) | . Curl F aye?, S t y a : ) L123, ayx®, S t y L . D i a 2 =z ~=il 2 [ayiz? Sevy -J Sy ax x e a oT J - « Bey a2 ex xe® B y e Se7y = i ( g 7 - 0 ) = / @ ° , 3 x ~ 2 , j (0~ axe") A r y " > | + b xy? 0 ) £ oy, y x 4 >