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AI HL · AHL 4

Vectors

AHL 4.23

Variable velocity in two dimensions

AHL 4.23

Variable velocity in two dimensions

Target: I can differentiate a velocity vector to find the acceleration, with polynomial, exponential and trig components. (+4 more)

By the end of this section

Key points

Differentiate and integrate vectors

  • \(\dfrac{d\mathbf{r}}{dt} = \mathbf{v}\) and \(\dfrac{d\mathbf{v}}{dt} = \mathbf{a}\). Here \(\mathbf{r}\) is the position vector, measured from the origin.
  • Differentiate or integrate each component separately. Each integral gets its own constant, \(c_1\) and \(c_2\).
  • The starting position fixes the constants. Put \(t = 0\) into \(\mathbf{r}\) and match it to \(\mathbf{r}_0\).
  • The same rules work in three dimensions, with a third component.

Speed, distance and direction

  • Speed is the magnitude of the velocity: \(|\mathbf{v}|\). Speed and distance are scalars, even though velocity and displacement are vectors.
  • Distance from the origin is \(|\mathbf{r}|\). Speed needs \(\mathbf{v}\), not \(\mathbf{r}\): differentiate first.
  • The angle of the velocity with \(\mathbf{i}\): use the components in a right-angled triangle, \(\tan\theta = \dfrac{v_2}{v_1}\).
  • Acceleration is constant when its components do not contain \(t\).

Derivatives and integrals to know

  • \(\dfrac{d}{dt}e^{kt} = ke^{kt}\) and \(\displaystyle\int e^{kt}\,dt = \dfrac{e^{kt}}{k}\).
  • \(\dfrac{d}{dt}\sin kt = k\cos kt\) and \(\dfrac{d}{dt}\cos kt = -k\sin kt\).
  • \(\displaystyle\int \sin kt\,dt = -\dfrac{\cos kt}{k}\) and \(\displaystyle\int \cos kt\,dt = \dfrac{\sin kt}{k}\).
  • With trig functions of time, the calculator must be in radians.

On the calculator

Radian mode and evaluating components

  • Check the calculator is in radians before any sin or cos of \(t\).
  • Evaluate each component at the given time and write them as a column vector.

Screenshot and video to come

Speed as a magnitude

  • Evaluate the velocity at the time.
  • Find the magnitude of the vector, or square, add and take the square root.
  • Round only at the end, to 3 significant figures.

Screenshot and video to come

Least speed from a graph

  • Enter the speed as a function of \(t\).
  • Graph it for \(t \ge 0\) and use the minimum tool.
  • Read the time from the x-value and the least speed from the y-value.

Screenshot and video to come

Worked examples

Problems like the ones in class. Pick one, try it, then open the working.
Acceleration and displacement from a polynomial velocity

The velocity of an object is \(\mathbf{v} = \begin{pmatrix}3t^{2} - 4\\8 - 5t\end{pmatrix}\) m s⁻¹. At \(t = 0\) it is at \(\mathbf{r}_0 = \begin{pmatrix}2\\-1\end{pmatrix}\) m. Find (a) the acceleration when \(t = 2\), (b) the position vector when \(t = 4\).

Working
  1. Differentiate

    \(\mathbf{a} = \dfrac{d\mathbf{v}}{dt} = \begin{pmatrix}6t\\-5\end{pmatrix}\)

    Differentiate each component separately.

  2. Substitute

    \(\mathbf{a}(2) = \begin{pmatrix}12\\-5\end{pmatrix}\) m s⁻²

    Put t = 2 into both components.

  3. Integrate

    \(\mathbf{r} = \begin{pmatrix}t^{3} - 4t + c_1\\-\frac{5t^{2}}{2} + 8t + c_2\end{pmatrix}\)

    Integrate each component and keep a constant for each.

  4. Use the start

    \(c_1 = 2,\ c_2 = −1\)

    At t = 0 the position is (2, −1). The t terms vanish, so each constant is the starting value.

  5. Substitute

    \(\mathbf{r}(4) = \begin{pmatrix}50\\-9\end{pmatrix}\) m

    Put t = 4 into the full expression for r.

Video walkthrough coming
Exponential components

The velocity of a particle is \(\mathbf{v} = \begin{pmatrix}10e^{2t}\\8e^{-4t}\end{pmatrix}\) m s⁻¹. At \(t = 0\) it is at \(\mathbf{r}_0 = \begin{pmatrix}3\\1\end{pmatrix}\) m. Find the acceleration and the position vector at time \(t\), then the position vector when \(t = 0.5\).

Working
  1. Differentiate

    \(\mathbf{a} = \begin{pmatrix}20e^{2t}\\-32e^{-4t}\end{pmatrix}\)

    The derivative of \(e^{kt}\) is \(ke^{kt}\): multiply by the 2 and by the −4.

  2. Integrate

    \(\mathbf{r} = \begin{pmatrix}5e^{2t} + c_1\\-2e^{-4t} + c_2\end{pmatrix}\)

    The integral of \(e^{kt}\) is \(e^{kt}\) divided by \(k\).

  3. Use the start

    \(c_1 = 3 - 5 = −2,\ c_2 = 1 + 2 = 3\)

    At t = 0, \(e^0 = 1\), so each exponential term gives its coefficient.

  4. Substitute

    \(\mathbf{r}(0.5) = \begin{pmatrix}11.6\\2.73\end{pmatrix}\) m

    Put t = 0.5 into r.

Video walkthrough coming
Trig components

The velocity of a particle is \(\mathbf{v} = \begin{pmatrix}9\cos 3t\\-6\sin 3t\end{pmatrix}\) m s⁻¹. At \(t = 0\) it is at \(\mathbf{r}_0 = \begin{pmatrix}0\\5\end{pmatrix}\) m. Find the acceleration and the position vector at time \(t\), then the i-component of the acceleration when \(t = 1\).

Working
  1. Differentiate

    \(\mathbf{a} = \begin{pmatrix}-27\sin 3t\\-18\cos 3t\end{pmatrix}\)

    The derivative of cos 3t is −3 sin 3t, and of sin 3t is 3 cos 3t. The chain rule brings out the 3.

  2. Integrate

    \(\mathbf{r} = \begin{pmatrix}3\sin 3t + c_1\\2\cos 3t + c_2\end{pmatrix}\)

    Divide by the 3 when you integrate.

  3. Use the start

    \(c_1 = 0 - 0 = 0,\ c_2 = 5 - 2 = 3\)

    At t = 0, sin 0 = 0 and cos 0 = 1.

  4. Substitute

    From the calculator, in radians: \(a_1(1) = −27\sin 3 = −3.81\) m s⁻²

    Radian mode for time in seconds.

Video walkthrough coming
Speed from a polynomial velocity

The velocity of an object at time \(t\) seconds is \(\mathbf{v} = \begin{pmatrix}2t^{2} - 9\\6 - t\end{pmatrix}\) m s⁻¹. Find its speed after 3 seconds.

Working
  1. Velocity at t = 3

    \(\mathbf{v}(3) = \begin{pmatrix}9\\3\end{pmatrix}\)

    Substitute first.

  2. Magnitude

    \(|\mathbf{v}| = \sqrt{9^2 + 3^2} = \sqrt{90} = 9.49\) m s⁻¹

    Speed is the magnitude of the velocity vector. It is a number, not a vector.

Video walkthrough coming
Speed from an exponential velocity

The velocity of a particle is \(\mathbf{v} = \begin{pmatrix}4e^{3t}\\9e^{-t}\end{pmatrix}\) m s⁻¹. Find its speed when \(t = 0.3\).

Working
  1. Velocity at t = 0.3

    From the calculator: \(\mathbf{v}(0.3) = \begin{pmatrix}9.84\\6.67\end{pmatrix}\)

    Evaluate each component.

  2. Magnitude

    \(|\mathbf{v}| = \sqrt{9.84^2 + 6.67^2} = 11.9\) m s⁻¹

    Both components count, even though the i-component is growing.

Video walkthrough coming
Speed from a trig velocity

The velocity of a particle is \(\mathbf{v} = \begin{pmatrix}7\cos 2t\\5\sin 2t\end{pmatrix}\) m s⁻¹. Find its speed when \(t = 1.5\).

Working
  1. Velocity at t = 1.5

    From the calculator, in radians: \(\mathbf{v}(1.5) = \begin{pmatrix}-6.93\\0.706\end{pmatrix}\)

    2t = 3 radians.

  2. Magnitude

    \(|\mathbf{v}| = \sqrt{(−6.93)^2 + 0.706^2} = 6.97\) m s⁻¹

    Square each component, add, take the square root.

Video walkthrough coming
From position to speed

The position vector of a skater at time \(t\) seconds is \(\mathbf{r} = \begin{pmatrix}4t^{2} - t\\2\cos 2t\end{pmatrix}\) m. Find the speed of the skater when \(t = 1.5\).

Working
  1. Differentiate

    \(\mathbf{v} = \dfrac{d\mathbf{r}}{dt} = \begin{pmatrix}8t - 1\\-4\sin 2t\end{pmatrix}\)

    Velocity is the derivative of position.

  2. Substitute

    From the calculator, in radians: \(\mathbf{v}(1.5) = \begin{pmatrix}11\\-0.564\end{pmatrix}\)

    Substitute t = 1.5 into the velocity, not the position.

  3. Magnitude

    \(|\mathbf{v}| = 11.0\) m s⁻¹

    Speed is the magnitude of v.

Video walkthrough coming
Angle with i and constant acceleration

The velocity of an object is \(\mathbf{v} = (5 + 2t)\mathbf{i} + (11 - 3t)\mathbf{j}\) m s⁻¹. (a) Find the angle the initial velocity makes with \(\mathbf{i}\). (b) Show that the acceleration is constant and find its magnitude.

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Working
  1. Initial velocity

    \(\mathbf{v}(0) = 5\mathbf{i} + 11\mathbf{j}\)

    Initial means t = 0.

  2. The angle

    \(\tan\theta = \dfrac{11}{5},\ \theta = 65.6^\circ\)

    Sketch the right-angled triangle: 5 along i and 11 along j.

  3. Differentiate

    \(\mathbf{a} = 2\mathbf{i} - 3\mathbf{j}\)

    The acceleration has no t in it, so it is constant.

  4. Magnitude

    \(|\mathbf{a}| = \sqrt{2^2 + (−3)^2} = \sqrt{13} = 3.61\) m s⁻²

    Constant in size and direction.

Video walkthrough coming
Distance from the origin

The displacement of a particle from the origin is \(\mathbf{r} = \begin{pmatrix}t^{3} - 2t\\12 - 3t^{2}\end{pmatrix}\) m at time \(t\) seconds. Find its distance from the origin when \(t = 3\).

Working
  1. Substitute

    \(\mathbf{r}(3) = \begin{pmatrix}21\\-15\end{pmatrix}\)

    Displacement at t = 3.

  2. Magnitude

    \(|\mathbf{r}| = \sqrt{21^2 + (−15)^2} = \sqrt{666} = 25.8\) m

    Distance is the magnitude of the displacement from the origin. Compare with speed, the magnitude of v.

Video walkthrough coming