Math 211: MC & LA

Lines and Planes in space

Patrick Dwomfuor

Department of Engineering
Ashesi University

September 27, 2022

Patrick Dwomfuor (Department

Math 211:
of MC
Engineering
& LA September 27, 2022
Ashesi University) 1/9
 Equation of lines in the Plane (2D)
We can write the equation of a line in 2D using:
the slope and a point on the line or an intercept on the y -axis,
two points on the line and
the direction of the line and a point through which the line passes.
NB: In 2D, we usually use the concept of slope to describe the orientation
or direction of a line.
2
Consider the line through the point (2, −1) with slope . We can form the
3
equation of a line in different ways.

Patrick Dwomfuor (Department

Math 211:
of MC
Engineering
& LA September 27, 2022
Ashesi University) 2/9
 Vector-Valued Functions
Imagine a projectile moving along a path in space; it could be an electron,
a comet, a soccer ball or a rocket. If you take a snapshot of the object, its
position is described by a static position vector r = ⟨x, y , z⟩. However, if
you want to describe the full trajectory of the object as it unfolds in time,
you must represent the object’s position with a vector-valued function
such as r(t) = ⟨x(t), y (t), z(t)⟩ whose components change in time.

Patrick Dwomfuor (Department

Math 211:
of MC
Engineering
& LA September 27, 2022
Ashesi University) 3/9
 Vector-Valued Functions

A function of the form r(t) = ⟨x(t), y (t), z(t)⟩ may be viewed in two
ways.
It is a set of three parametric equations that describe a curve in space.
It is also a vector-valued function, which means that the three
dependent variables (x, y , z) are the components of r and each
component varies with respect to a single independent variable t
(that often represents time).

A vector-valued function
A vector-valued function is a set of parametric equations written in
vector form.

Patrick Dwomfuor (Department

Math 211:
of MC
Engineering
& LA September 27, 2022
Ashesi University) 4/9
 Lines in space (3D)

Patrick Dwomfuor (Department

Math 211:
of MC
Engineering
& LA September 27, 2022
Ashesi University) 5/9
 Curves in Space
The general vector-valued functions is of the form
r(t) = ⟨f (t), g (t), h(t)⟩ = f (t)i + g (t)j + h(t)k,
where f , g and h are defined on the interval a ≤ t ≤ b. The domain of r
is the largest set of values of t on which all of f , g and h are defined.

Patrick Dwomfuor (Department

Math 211:
of MC
Engineering
& LA September 27, 2022
Ashesi University) 6/9
 Calculus of Vector-Valued Functions
Limit of a Vector-Valued Function
A vector-valued function r approaches the limit L as t approaches a,
written as lim r(t) = L, provided lim |r(t) − L| = 0.
t→a t→a

Derivative and Tangent Vector

Let r(t) = f (t) i + g (t) j + h(t) k, where f , g and h are differentiable
functions on (a, b). Then r has a derivative (or is differentiable) on
(a, b) and r′ (t) = f ′ (t) i + g ′ (t) j + h′ (t) k,
Provided r′ (t) ̸= 0, r′ (t) is a tangent vector at the point corresponding
to r(t).

Unit Tangent Vector

Let r(t) = f (t) i + g (t) j + h(t) k, be a smooth parameterized curve, for
a ≤ t ≤ b). The unit tangent vector for a particular value of t is
r′ (t)
T(t) = ′ .
|r (t)|
Patrick Dwomfuor (Department
Math 211:
of MC
Engineering
& LA September 27, 2022
Ashesi University) 7/9
 Motion in Space
Position, Velocity, Speed, Acceleration
Let the position of an object moving in three-dimensional space be given
by r(t) = ⟨x(t), y (t), z(t)⟩, for t ≥ 0. The velocity of the object is
v(t) = r′ (t) = ⟨x ′ (t), y ′ (t), h′ (t)⟩.
The speed of the object is the scalar function
q
|v(t)| = x ′ (t)2 + y ′ (t)2 + h′ (t)2 .
The acceleration of the object is a(t) = v′ (t) = r′′ (t).

Patrick Dwomfuor (Department

Math 211:
of MC
Engineering
& LA September 27, 2022
Ashesi University) 8/9
 Length of Curves
Arc Length for Vector Functions
Consider the parameterized curve r(t) = ⟨x(t), y (t), z(t)⟩, where x ′ , y ′
and z ′ are continuous on a ≤ t ≤ b. The arc length of the curve is
Z bq Z b
L= x ′ (t)2 + y ′ (t)2 + z ′ (t)2 dt = |r′ (t)|dt.
a a

Arc Length as a Function of a Parameter

Let r(t) describe a smooth curve, for t ≥ a. The arc length is given by
Z t
s(t) = |v(u)|du,
a

ds
where |v| = r′ . Equivalently, = |v(t)|. If |v(t)| is a scalar, for all t ≥ a,
dt
then the parameter t can be written as a function of arc length s(t).

Patrick Dwomfuor (Department

Math 211:
of MC
Engineering
& LA September 27, 2022
Ashesi University) 9/9