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Polar Coordinates
and Vectors
“Success is the sum of small efforts, repeated day in and day out.”
- Robert Collier
1.0 Introduction
Lesson Outcomes:
Determine the parametric equations.
Plot and sketch coordinate and surfaces in three dimensional systems.
Solve problem in three dimensions
Sketch and analyze the graph of function of two variables, quadratic surfaces,
cylindrical and spherical coordinates.
Solve the problem involving equation of lines and planes.
Determine the change between polar systems and Cartesian systems.
Solve the problem involving polar coordinates.
Note:
This document is used only as a supplement material for course BUM2123 Applied
Calculus. Students are advised to refer to other related materials.
1.0 INTRODUCTION
In this chapter we learn how to sketch curves in the plane. We start with studying
parametric curves which are described in terms of component functions. Our attention is
now turn to a review of the basic properties of conic sections such as parabolas, circles and
ellipses and express the curves in three dimensional coordinate system. This chapter also
discusses the equations of lines and planes. We then introduce the polar coordinate system.
x = f (t ) , y = g (t )
as shown in Figure 1.1. These equations are the parametric equations of the
motion for the particle and C is the trajectory of the particle. The variable t is the
parameter of the equations. The direction of increasing values of the parameter is
called the orientation. The curve together with the orientation is called the
parametric curve or the graph of the parametric equations.
Figure 1.1
Analogously, if f, g, and h are all well-behaved functions, then the parametric equations
x = f (t ) , y = g (t ) , z = h (t )
generate a curve in space.
x = f (t ) , y = g (t ) at b
The point ( f (a), g (a)) is called the initial point and the point ( f (b), g (b)) is called the
terminal point.
Example 1.1.1 Sketch the graph of the following parametric equations by plotting
the xy-coordinates and indicate the orientation. Find the rectangular equation, y = f ( x )
by eliminating t from the parametric equations
x = t, y = 2t − 3 0t 4
Solution
In order to sketch the graph we have to sketch the curve, C, and indicate the orientation.
First, we construct a table of values of x and y at parameter values t = 1, 2, 3, 4.
t 0 1 2 3 4
x 0 1 2 3 4
y −3 −1 1 3 5
Using this table, we plot the points (0, −3), (1, −1), (2,1), (3,3) and (4,5) showing the
corresponding values of t, i.e. t = 0, t = 1, t = 2, t = 3 and t = 4. Then we draw the curve
(in this case a straight line) through these five points.
We eliminate t by replacing t with x in the second equation to get the rectangular equation
y = 2x − 3 0 x4
Since the orientation is the direction determined by increasing values of the parameter t,
the orientation is as shown by the arrow on the line.
Example 1.1.2 Sketch the graph of the given parametric equations by plotting the
xy − coordinates and indicate the orientation. Then, find the rectangular equation.
x=t y = t −1 1 t 10
Solution
We construct a table of values of x and y at times 1, 2, 5, 10 .
t 1 2 5 10
x 1 2 5 10
y 0 1 2 3
We plot the points (1, 0), (2,1), (5, 2), and (10,3) together with the corresponding values
of t. Then, we sketch the curve with the orientation.
y = x −1 1 x 10
Remark
y 2 = x − 1, y0
whereby the condition y 0 is necessary.
Example 1.1.3 Find the parametric curve of the given parametric equations by
eliminating the parameter t.
x= t y = t −1
Solution
y = x2 −1 x0
x
t=1
−1
t=0
In order to determine the orientation, we select two different values of the parameter, for
example t = 0 and t = 1 . The first value, t = 0 give us the first point ( 0, −1) and the
second value t = 1 give us the second point (1,0 ) , so the orientation is as shown by the
arrow.
Example 1.1.4 Sketch and identify the parametric curve represented by the
parametric equations. Then, find the rectangular equation.
x = t 2 − 2t , y = t +1
Solution
t −2 −1 0 1 2 3 4
x 8 3 0 −1 0 3 8
y −1 0 1 2 3 4 5
t=1
t=0
x
t = -1
t = -2
Now, we find the rectangular equation by eliminating the parameter t. From the second
parametric equation we have
t = y −1
x = t 2 − 2t
= ( y − 1) − 2( y − 1)
2
= y2 − 4y + 3
1
( y − 2) 2 = 4 ( x + 1)
4
3
which represents a parabola with the vertex at (−1, 2), focus at − , 2 .
4
■
x = cos t y = sin t 0 t 2
Solution
3
t 0 2
2 2
x 1 0 −1 0 1
y 0 1 0 −1 0
It appears that the curve is a circle. This can be confirmed by eliminating t in the parametric
equations.
x 2 + y 2 = cos 2 t + sin 2 t = 1
It is indeed true that the curve is a circle with center at the origin and radius 1. Notice that
as the parameter t increases from 0 to 2 , the point (x, y ) moves once around the circle in
counterclockwise direction starting from the point (1,0) and return to the same point. ■
Solution
In order to eliminate t, we square both sides of the equations and add them together.
To find the orientation we find two coordinates ( x, y ) , say t = 0 and t =
2
t = 0: x = 2cos0 = 2 y = 2sin 0 = 0 Point ( 2, 0 )
t= : x = 2 cos = 0 y = 2sin = 2 Point ( 0, 2 )
2 2 2
Since t = 0 gives the point ( 2, 0 ) and t = gives ( 0, 2 ) the orientation is as shown
2
(counterclockwise).
t=
2
t =0
x = 2 cos t , y = 3 sin t
Solution
By eliminating t we have
x y
cos t = sin t =
2 3
2 2
x y
+ = cos t + sin t
2 2
2 3
2
x y2
+ =1
4 9
To find the orientation we find two coordinates ( x, y ) , say t = 0 and t =
2
t = 0: x = 2cos0 = 2 y = 3sin 0 = 0 Point (3,0)
t= : x = 2 cos = 0 y = 3sin = 3 Point ( 0,3)
2 2 2
Since t = 0 gives the point ( 2, 0 ) and t = gives ( 0,3) the orientation is as shown
2
(counterclockwise).
x = sin 2t y = cos 2t 0 t 2
Solution
x 2 + y 2 = sin 2 2t + cos 2 2t = 1
As t increases from 0 to 2 , the point (x, y ) starts at (0,1) and moves twice around the
circle in the clockwise direction.
Remark
x = sin t , y = sin 2 t .
Solution
y = (sin t ) = x 2
2
But, since −1 sin t 1, we have −1 x 1 . Note that also, since sin t is periodic, the
point ( x, y ) moves back and forth infinitely often along the parabola from ( −1,1) to
(1,1) .
y
( −1,1) ( 1,1)
EXERCISES 1.1
Sketch the parametric curve of the given parametric equations and indicate the
orientation.
1. x = 3t − 5 y = 2t + 1
2. x= t y = 1− t
3. x = 1+ t y = 5 − 2t −2 t 3
4. x = sin y = cos −
5. x = 5cos y = 2 sin 0 2
6. x = 3cos t +1 y = 3sin t − 2
7. x = sin t + 4 y = cos t + 4
8. 1 − y = sin t x + 3 = 2cos t
y−2 1− x
9. = cos t + 1 = sin t − 2
3 2
10. x = t −1 y = t +3 1 t 4
11. x = 1− t y = 2+t
12. x = t +1 y = 2−t
13. x=t y = t2 −1
14. x = 1 − 2t y2 = 1− t
15. x = 1 − cos 2 t y = cos t
Answers
1. 2. 3.
4. 5. 6.
1 2
1 5
7. 8. 9.
19. 20.
3rd Octant
2nd Octant
6th Octant
Figure 1.2
The three coordinate axes determine the three coordinate planes. They are xy-plane, yz-
plane and xz-plane. These three coordinate planes divide space into eight parts, called
octants. The one (all positive axis) that shown in Figure 1.2 is the first octant.
For example, the point (2, 3, 4) is in the first octant, the point ( −2, 3, 4) in the second
octant, (−2, −3, 4) in the third, (2, −3, 4) in the fourth, (2, 3, −4) in the fifth, (−2,3, −4) in
the sixth, (−2, −3, −4) in the seventh, and (2, −3, −4) in the eighth octant as depicted in
Figure 1.3.
Figure 1.3
Now if P is any point in space, P will be presented by the ordered triple (x, y, z ) of real
numbers and we call x, y and z the coordinates of P; x is the x-coordinate, y is the y-
coordinate, and z is the z-coordinate. As an illustration, the points
(−3, 6, 4), (−5, 6,3), (−5, −4, −2) and (2, −3, −4) are plotted in Figure 1.4.
Figure 1.4
Example 1.2.1 Sketch a box in the first octant, of length 3, and has the origin as
one of its vertex.
Solution
• (3,3,3)
y
3
3
Example 1.2.2 Sketch a box in the second octant, having the length, width and
height 3, 2, and 4 respectively, having origin and ( −3, 2, 4) as two of its vertex.
Solution
In 1D, the domain of the set of points is on a line. In 2D, the domain is the set of points on
a plane. In 3D, the domain is the set of points in space.
Solutions
Solution
The equation represents the set of all points in 3D whose x- and y-coordinates are equal.
This is a vertical plane that intersects the xy-plane in the line y = x, z = 0 shown as in the
following figure. Since z does not appear in this equation, it means that z is arbitrary.
Therefore the graph will be generated parallel along the z-axis.
z
y
x
y
We know that in 1D, the equation x = 2 represents a point, and in 2D, x = 2 represents
a line parallel to y-axis. Now, in 3D, x = 2 represents a plane which is parallel to both y-
axis and z-axis.
In order to sketch the graph, first we draw the three dimensional coordinate system with
the xyz-axis. Then, plot the point (2,0,0) and through this point we draw two straight lines
one parallel to y-axis and the other parallel to z-axis. Finally, using these two straight
lines as the middle lines, we draw a parallelogram. This parallelogram is a portion of the
plane x = 2.
Figure 1.5
Solution
(a) Since there is no y and z in the equation, the plane is parallel to both y and z axis.
(b) Since there is no x and y in the equation, the plane is parallel to both x and y axis.
Remark
A line and a plane are parallel if they do not intersect.
Theorem 1.2 The distance d between two points P1 (x1 , y1 , z1 ) and P2 (x2 , y2 , z 2 ) in
3D is
d= (x2 − x1 )2 + ( y2 − y1 )2 + (z 2 − z1 )2
Example 1.2.3.1 Find the distance between the points ( 2, −1,7 ) and (1, − 3,5) .
Solution
EXERCISES 1.2
1. Sketch the points (2,4,6) and (4, −3, −2) on a single coordinate system.
Answers
1.
2. 1D 2D 3D
3. 4.
5.
8. 22.0454
9. 27.7715
(c) (d)
(e) (f)
(g)
In previous sections, one type of surface had been looked into; planes. Now, other type of
surfaces will be investigated: cylinders and quadric surfaces.
Solution
If z = f ( x, y ) = k , then 2x 2 + y 2 = k .
Thus,
k = 0 2 x2 + y 2 = 0
x2 y 2
k = 2 2x2 + y 2 = 2 + =1
1 2
x2 y 2
k = 4 2x2 + y 2 = 4 + =1
2 4
x2 y 2
k = 8 2x2 + y 2 = 8 + =1
4 8
Solution
If z = f ( x, y ) = k , then x − y = 5 − k .
Thus,
k = −3 x− y =8
k =0 x− y =5
k =5 x= y
k =7 y−x=2
k =9 y−x=4
Solution
If z = f ( x, y ) = k , then x 2 + y 2 = 25 − k 2 .
Thus,
k = 0 x 2 + y 2 = 25
k = 3 x2 + y 2 = 16
k = 4 x2 + y 2 = 9
A cylinder is a surface formed by the points at a fixed distance from a given line segment,
the axis of the cylinder. In differential geometry, a cylinder is defined more broadly as any
ruled surface spanned by a one-parameter family of parallel lines. A cylinder whose cross
section is an ellipse, parabola or hyperbola is called an elliptic cylinder, parabolic
cylinder or hyperbolic cylinder respectively.
Solution
Solution
Graph of y = f ( x ) in 2D Graph of z = f ( x, y ) in 3D
Example : y = x 2 in 2D Example : y = x 2 in 3D
y z
y
x
x
Notice that the equation of the graph does not involve y. This means that the curve with
equation z = x 2 will be traced along y-axis. The graph is formed by extending the
parabola z = x 2 in the xz-plane to the direction of the y-axis. The surface is called
parabolic cylinder.
(d) z = 4 − x 2 , z 0 (e) y = 5 + x 2
Solution
(d) (e)
(B) Cylinder
x2 y 2
+ =1
a 2 b2
(d) 4 x 2 + y 2 = 16 (e) 3 y 2 + z 2 = 9
Solution
y y
2
2
-2
x x
1.3.3 Paraboloid
x2 y 2 z
+ = .
a 2 b2 c
Step 1 : Set z = k for some values of k to obtain traces for f (x, y ) on the plane z = k .
The graphs obtained in this way are level curves of the function. It is important to
note that as a point (x, y ) moves along a level curve, the values f (x, y ) of the
function are constants.
Step 2 : Set y = 0 to obtain xz-trace on the xz-plane.
Those three steps will constitute frames for the required surface. The projection of the
curve f (x, y ) = k for some k’s, on xy-plane will give a set of curve on the plane and they
are called contour lines. For example : Sketch the surface of z = 9 − x 2 − y 2 .
Step 1
y
Let z = k , thus x 2 + y 2 = 9 − k .
If k = 0 : x2 + y2 = 9
If k = 3 : x2 + y2 = 6
If k = 6 : x2 + y2 = 3
x
If k = 8 : x2 + y2 = 1
Step 2 Step 3
Finally z
z=8
z=6
z=3
Solution
z
(a) z z (d)
(b) z (c) 4
y
y y
x
x x
x
Note that the cross sections (level curves) of paraboloid in (a) and (d) are circles whereas
the cross sections in (b) are ellipses.
1.3.4 Spheres
The general equation of a sphere with center at the origin and radius a is
x2 + y 2 + z 2 = r 2 where r 0.
A sphere is the set of all points P(x, y, z ) whose distance from the center C (h, k , l ) is r
(Figure 1.6). Using the formula of the distance between the points, we have
( x − h)2 + ( y − k )2 + ( z − l )2 = r
( x − h )2 + ( y − k )2 + ( z − l ) 2 = r 2
z
P(x, y, z )
r
C(h, k , l )
Figure 1.6
Equation of a sphere
For the sphere with the center at the origin and radius 2, the equation is
x2 + y 2 + z 2 = 4
z 2 = 4 − x2 − y 2
z = 4 − x2 − y 2
z z
2
y
2 2
y
2
2 x
-2
x
y = 4 − x2 − z 2
x = 4 − y2 − z2
z z
2 2
-2 -2
y y
2 -2
2 2
x x
-2 -2
z z
2 y 2 y
2
x x
2 -2
-2
-2 -2
Solution
This represents a sphere with center at ( −2,3, −1) and the radius r = 2 2 .
Remarks
• If k 0 , then the graph of this equation is a sphere with center (x0 , y0 , z0 ) and
radius k .
• If k = 0 , then the sphere has a radius zero, so the graph is the single point
(x0 , y0 , z0 ) .
• If k 0 , the equation is not satisfied by any values of x, y and z, so no conclusion
can be drawn.
(a) x 2 + y 2 + z 2 − 8 x + 10 y − 6 z + 56 = 0
(b) 3x 2 + 3 y 2 + 3z 2 − 6 x + 6 y − 12 z + 18 = 0
Solution
(a) ( x − 4)2 − 42 + ( y + 5)2 − 52 + ( z − 3)2 − 32 = −56
( x − 4 )2 + ( y + 5)2 + ( z − 3)2 = −56 + 16 + 25 + 9
( x − 4 )2 + ( y + 5)2 + ( z − 3)2 = −6
Since k 0 , thus no conclusion can be drawn.
(a) (
3 x2 + y 2 + z 2 − 2 x + 2 y − 4 z + 6 = 0 )
( x −1)2 −12 + ( y + 1)2 −12 + ( z − 2)2 − 22 = −6
( x − 1)2 + ( y + 1)2 + ( z − 2 )2 = −6 + 1 + 1 + 4
( x − 1)2 + ( y + 1)2 + ( z − 2 )2 = 0
Since k = 0 , thus the sphere has a radius zero, so the graph is the single point
(1, −1, 2) .
■
(a) x2 + y2 + z 2 = 4 (b) x 2 + y 2 + z 2 = 16 , z 0
(c) y = 1− x2 − z 2 (d) x = − 9 − y2 − z2
( x − 3) + ( y + 4 ) + ( z − 5 ) =4
2 2 2
(e)
Solution
2 4
1
y y
2 y 1
2 4 1
4
x x
x
(d) (e)
z
−3
3 y
1.3.5 Ellipsoids
x2 y 2 z 2
+ + =1 where a, b and c are constants.
a 2 b2 c 2
1.3.6 Cones
x2 y 2 z 2
+ = where a, b and c are constants.
a 2 b2 c 2
Solution
z z
(a) z
(b)
(c)
y
y
y
x
x
x
■
Summary
Parabolic Cylinder y = ax 2
x2 y 2
Cylinder + =1
a 2 b2
x2 y 2 z
Paraboloid + =
a 2 b2 c
Sphere x2 + y 2 + z 2 = r 2
x2 y 2 z 2
Ellipsoid + + =1
a 2 b2 c 2
x2 y 2 z 2
Cone + =
a 2 b2 c 2
EXERCISES 1.3
(c) z = y2 (d) y = − x2
(e) z= y (f) 9 y 2 + 4 z 2 = 36
(g) x2 + z 2 = y 2 (h) x2 + 4 y 2 + 4 z 2 = 4
(i) z = 1 − x2 − y 2 (j) y = − 1 − x2 − z 2
(k) y = −( x2 + z 2 ) (l) z = 4 − ( x2 + y 2 )
(m) z = ( x2 + y 2 ) − 9 (n) z = 1 − (2 x 2 + 3 y 2 )
(o) z = 2 − x2 + y 2 (p) y = 1 − x2 + z 2
(a) x 2 + y 2 = 25 (b) y = 2 x2 − 4
(c) x2 + 3 y 2 + 4 z 2 = 1 (d) 4 x2 + z 2 = 16
(e) x2 = y 2 + z 2 (f) 3x = 36 − 9 y 2 − 9 z 2
(i) z = 16 − x2 + y 2 (j) (
3 y = − x2 + 9z 2 )
3. Find the equations of the sphere
(a) with center (−3,0,2) and radius 3.
(b) with center (2,−3,−1) and radius 2.
4. Find the center and radius of the sphere that has (1,−2,4) and (3,4,−12) as endpoints
of a diameter.
5. Find the center and radius of the sphere
(a) x + y + z + 2 x + 6 y − 4 z + 10 = 0
2 2 2
(b) x + y + z − 4 x + 6 y − 8 z + 20 = 0
2 2 2
6. Find the equations of the sphere with center (−4,2,5) and tangent to the xz- plane.
7. Describe the surface whose equation is given.
(a) 2 x + 2 y + 2 z − 2 x − 3 y + 5z − 2 = 0
2 2 2
(b) x 2 + y 2 + z 2 − 3x + 4 y − 8z + 25 = 0
Answers
-3
x
y
y
-2 2
-3
x x
y
y
1
1
x x
4
-1
y
-1 y
-2
1
x y
-1 -2 2
x 2
x
1(p) 1(q)
z z
1 9
-9
y
1 y
-9 9
x 9
-1 x
3. (a) x2 + y 2 + z 2 + 6 x − 4 z + 4 = 0
(b) x 2 + y 2 + z 2 − 4 x + 6 y + 2 z + 10 = 0
6. x 2 + y 2 + z 2 + 8 x − 4 y − 10 z + 41 = 0
1 3 5 3 6
7. (a) Sphere; center , , − , radius
2 4 4 4
(b) No conclusion