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Outline
We denote by
N = {0 1 2 } (the set of natural numbers)
Z = {
© −2 −1 0 1 2 ª} (the set of integer numbers)
Q= : ∈ Z, 6= 0 (the set of rational numbers)
R (the set of real numbers)
In the following chapters, we will also be concerned with the sets R2 , R3 , or more generally R ( ≥ 1), defined
as follows
R = { = (1 2 ) : 1 2 ∈ R}
Given a point = (1 2 ) ∈ R , 1 2 are called the coordinates of . In the cases = 1 2
and 3 we can represent by a point on the real line, in the real plane, respectively in the real space, as indicated
in the figure below. In the cases ≥ 4 we cannot represent graphically the point (it is difficult for example to
make a sketch in a 4-dimensional space!), but we can still think a being a point in R .
R R2 x3 R3
x2 x x
0
x1 x1
0 x 0
x2
Alternately, the point ∈ R can also be viewed as a vector in R , from the origin to the corresponding point
(see Figure 1 above).
Recalling the addition of vectors, we can define the addition of points in R as follows: if = (1 ) and
= (1 ), we define + by
+ = (1 + 1 + ) (1)
There are two multiplication operations which can be performed with a point/vector in R :
· = 1 1 + (3)
1
Using Pythagora’s theorem, it is not difficult to see that the length of the vector = (1 ) ∈ R (denoted
by ||||) is given by q √
|||| = 21 + + 2 = · (4)
The length kk of a vector in R is called in mathematics the norm of . It has the following properties:
i) kk ≥ 0
ii) kk = 0 implies = 0 = (0 0).
iii) kk − kk ≤ k − k ≤ kk + kk
iv) k−k = kk
v) kk = kk for any 0.
Proof. Exercise.
y
x−y
Figure 2: The distance between the points and is the length k − k of the vector − .
From Figure 2 we can see that the distance between the points = (1 ), = (1 ) ∈ R is
equal to the length of the vector − , hence we define
q
( ) = || − || = (1 − 1 )2 + + ( − )2 (5)
Remark 1.2 Note that in the case = 1, the above formula becomes
q
2
( ) = || − || = (1 − 1 ) = |1 − 1 |
in which we recognize the usual formula for the distance between two points on the real line: the distance is just the
absolute value of their difference.
Also, in the cases = 2 and = 3 the above formula becomes the familiar formulae from analytic geometry
q
( ) = || − || = (1 − 1 )2 + (2 − 2 )2
respectively q
( ) = || − || = (1 − 1 )2 + (2 − 2 )2 + (3 − 3 )2
Thus, in general, we will write k − k for the distance between two points in R (perhaps in the case = 1 it
is more common to write | − | instead k − k, although both notations are acceptable).
Often, we are interested in describing the points which are “close” to a given point ∈ R . Recalling that the
distance between and is just k − k, this leads to the following definition:
2
R R2 R3
x
r B(x, R) x B(x, R)
B(x, r) r
0
x1
x−r x x+r 0
Definition 1.3 We define the open ball with center ∈ R and radius 0 by
( ) = { ∈ R : k − k } (6)
( ) = { ∈ R : | − | } = ( − + )
so in this case the ball is the usual 3-dimensional ball centered at of radius .
In the higher dimensional cases ( 3), even though we cannot represent graphically the ball ( ), we will
still refer to ( ) as the open ball of center and radius .
The notion of an open set, extends the notion of an open interval. Recall that in R, an open interval ( ) is
the set of all points between (and not including) the endpoints and , that is
( ) = { ∈ R : }
Definition 1.5 A set ⊂ R is called open if for any point ∈ there exists an 0 such that ( ) ⊂ .
A set ⊂ R is closed if the complement = R − is an open set.
A neighborhood of a point ∈ R is any set = ⊂ R for which there exists 0 such that ( ) ⊂ .
Note that by definition, the empty set ∅ and R are both open sets and closed sets.
Example 1.6 For any ∈ R, , the open interval ( ) is an open set, and the closed interval [ ] is a
closed set. Note that the intervals ( ] and [ ) are neither open nor closed. Conversely, it can be shown that a
set ⊂ R is open if and only if it is a (countable) union of open intervals, that is = ∪≥1 ( ).
3
Some properties of the open/closed sets are contained in the following:
Proposition 1.7 Finite intersections of open sets and arbitrary unions of open sets are open. Finite unions and
arbitrary intersections of closed sets are closed sets.
Proof. Exercise.
The following definition is meant to indicate the “relative position” of a point with respect to a set.
Remark 1.9 The notion of accumulation / limit point of a set has the following equivalent definition. A point
∈ R is a limit point of if and only if there exists a sequence 1 2 ∈ − {} of points in − {} such
that lim→∞ = .
In other words, a limit point point of is a point which can be obtained as the limit of points in − {} (both
requirements that ∈ and 6= are essential here).
ii) the closure of the set (denoted ̄) as the the set of all closure points of , that is
= { ∈ R : closure point of }
Example 1.13 For any ∈ R with , the interior of the set ( ] is ( ) and its closure is [ ].
◦
For the set = (1 2] ∪ {3}, the set of interior points is = (1 2), the set of closure points is ̄ = [1 2] ∪ {3},
the boundary points are = 1, 2 and 3, the set of accumulation points is [1 2], and the only isolated point is = 3.
4
1.1 Functions
An important notion in mathematics is that of a function. Recall that a function is a rule which assigns to each
number in a certain set (called the domain of the function) a unique number in a certain set (called the range of
the function). If denotes the “rule” which describes the correspondence between the points in the domain and
the range of the function, it is customary to write : → (read as “ defined on with values in ”) for
the corresponding function. In this notation, () represents the point in which corresponds to the point ∈ .
Note that according to the definition, a function is a triple ( ), that is a rule, a domain, and a range. In
particular, two functions 1 : 1 → 1 and 2 : 2 → 2 are equal if and only they have the same domain, the
same range, and the same rule, that is 1 = 2 , 1 = 2 and 1 () = 2 () for all ∈ 1 = 2 .
The graph of the function : → is the set = {( ()) : ∈ }. In the case when ⊂ R (or ⊂ R2 )
and ⊂ R, we can represent graphically the graph , by plotting the points with coordinates ( ()) for all
∈ .
Given two functions : → and : → (note that the range of equals the domain of ), we may define
the composition of and as the function ◦ : → , ( ◦ ) () = ( ()), ∈ .
The composition of functions is associative (meaning that ( ◦ ) ◦ = ◦ ( ◦ ), whenever the composition of
and makes sense), but is not in general commutative (meaning that ◦ 6= ◦ ).
For a given function : → it may happen that distinct points are mapped into distinct points () -
when this happens, we say that the function is injective. Also, it may happen that any point in the range of the
function is the image under of a point in its domain - when this happens, we say that is a surjective function.
The formal definitions are the following.
i) injective if
∀1 2 ∈ , 1 6= 2 =⇒ (1 ) 6= (2 )
or equivalently
∀1 2 ∈ , (1 ) = (2 ) =⇒ 1 = 2
ii) surjective if
∀ ∈ ∃ ∈ s.t. () =
The important consequence of the fact that a function : → is bijective is that to each ∈ corresponds
exactly one ∈ such that () = (why?). This allows to define the inverse function of , denoted by
−1 : → , by defining −1 () = if () = .
If is a bijective function, then
−1 ◦ () = for all ∈ (7)
and
◦ −1 () = for all ∈ (8)
Next, we present a brief overview of the most common mathematical functions.
5
If two lines 1 and 2 have slopes 1 , respectively 2 and they are parallel, then 1 = 2 . If they are
perpendicular, their slopes verify 1 · 2 = −1.
Finally, note that when the equation of the line is written in the form = + , its slope is exactly the
coefficient of , that is = .
Example 1.15 Sketch the graph of the function : R → R, () = 2 + 3. Redo the exercise in the cases when
: [0 ∞) → R and : (−1 3] → R.
Conversely, if the graph of a linear function is known, we can find its equation by using the formula for the
equation of a line determined by two distinct points (1 1 ) and (2 2 )
− 1 − 1
= (11)
2 − 1 2 − 1
or the equation of a line determined by a point (1 1 ) and its slope
− 1 = ( − 1 ) (12)
Solving the above equations for , the corresponding linear function is given by () = , for in the domain of
the function (note that the domain of the function can be “read” from its graph, but its range cannot be explictly
determined from the graph - why? When the range of a function is not explicitly stated, we usually consider the
range to be R, R2 , aso).
Example 1.16 Find the equation of the line passing through the points (1 5) and (2 7).
• -intercepts (points where the graph crosses the -axis): if ∆ = 2 − 4 ≥ 0 and 12 are the solutions of the
equation () = 01 , the parabola crosses the axis at the points with coordinates (1 0) and (2 0).
Example 1.17 Sketch the function : R → R, () = 2 −2+3. Is this function injective, surjective or bijective?
Can you modify the domain/range of such that is bijective? What is in this case its inverse function?
6
C
π
2 −α
α
A B
and similar formulae for cos , tan and cot (recall the trigonometric circle!). Finally, the definition of sin and
cos is extended to any ∈ R by 2 periodicity, i.e. sin (2 + ) = sin . The tangent and cotangent functions
are extended by periodicity (note tan 2 and cot 0 are not defined).
Some trigonometric formulae:
sin2 + cos2 = 1
sin ( ± ) = sin cos ± cos sin
cos ( ± ) = cos cos ∓ sin sin
± ∓
sin ± sin = 2 sin cos
2 2
+ −
cos + cos = 2 cos cos
2 2
+ −
cos − cos = −2 sin sin
2 2
sin 2 = 2 sin cos
cos 2 = cos2 − sin2
1 − cos (2)
sin2 =
2
2 1 + cos (2)
cos =
2
£ ¤ £ ¤
The function : − 2 2 → [−1 1], () = sin is bijective. Its inverse −1 : [−1 1] £→ − 2¤ 2 is called the
arcsine (inverse sine) function, and is denoted −1 () = arcsin , in other words for ∈ − 2 2 and ∈ [−1 1]
we have
sin = ⇐⇒ arcsin =
Similarly, the arccosine (cosine inverse) function arccos : [−1 1] → [0 ] is defined as the inverse of the cosine
function, restricted to the interval [0 ].
7
(a > 1) y y (0 < a < 1)
y=a x y = ax
x x
· = +
= −
( · ) = ·
³ ´
=
( ) = ·
8
1.3 Exercises
1. Evaluate.
h ¡ 6 ¢0 i−1
(a) 7 − 5 13
−4 −2
3−2 +( 23 ) (
− 34 )
(b) 0
( ) 4
5 −18·3−3
9
6. Simplify the given expressions.
24 −83 +82 2
(a) 4 −23
205 2 +163 2
(b) 754 +1202 2 +483
252 +152 −30
(c) 203 +122 −242
653 −602 2
(d) 392 3 −36 4
125 −273 2
(e) 83 −122 2
9. Consider = {0 1} and = { }. Determine all the functions : → , and decide which of these are
injective. Are any of these functions surjective or bijective?
10. Consider : R → R, () = | − 1| + 2 and () = | − 2| + 1. Find ◦ and ◦ .
11. Consider : R → R, () = 2 + 3, () = || () = 2 .
10
(c) Find ◦ and ◦ .
13. Consider the functions : R → R defined by () = 24 + 4 and () = 3 + + 2. Show that is not
injective and is injective.
14. Sketch the indicated functions
15. Find the equation of the line through the points with coordinates (2 1) and (1 2).
16. Find the equation of the line through the point (2 1) and parallel to the line through (5 2) and (0 45).
17. Find the equation of the line through origin and perpendicular to the line with equation = 2 + 3.
18. Are the lines 2 + 3 = 4 and 3 − 2 = 4 parallel or perpendicular to each other?
19. Find the point of intersection of the lines 2 + 3 = 4 and 3 − 2 = 4
(a) Graphically
(b) Numerically
(a) : R → R, () = 2 − 6 + 5
1
(b) : R → R, () = 2 − + 4
(c) : R → R, () = −2 − 5 − 6
(d) : R → R, () = −042 − 5
11
27. Find the values of and for which the quadratic function : R → R, () = −2 + + reaches its
maximum value 5 at = 3.
28. Find the equation of the parabola through the points (−1 10), (1 3), and (2 55).
29. Solve the following inequalities.
(a) −2 + 3 + 30 ≤ ( − 1)
(b) 32 + 5 + 3 1
(c) −22 + 6 − 3 5
2 + 2 − 2
(d) 3
2 − 3 + 4
5 + 7 2 + 21 2
(e) −
−2 +7 3
30. Solve the given systems.
½ −1 1
−1 = 5
(a) +4 2
+4 = 5
½
0 25 + 0 04 = 2
(b)
4 + 25 = 641
½
+ 5−1
3 = − 23
(c)
3 − 2 = − 21
2+3
2
½ 5 4
−1 : −1 = 25 : 24
(d) 2 3
+1 : +1 = 7 : 12
½ +
(e) 3 + = 15
− −
5 =6
½
10 − 3 2 = 48
(f)
− 3 = 0
33. Consider the function : → , () = 2 + 5 + 6 Determine a choice for the sets and such that the
function is bijective, and then find its inverse function −1 : → .
34. Sketch the graphs of the exponential functions : R → R defined by () = 2 and () = 05 .
√ √ √
35. Decide which of the numbers 1+ 6
and 2+ 3
is larger.
36. Solve the given inequalities.
12
2
(a) 5 −−2 1
³ √ ´+3 µ 1 ¶|−4|
(b) 2 2
8
2 −4
(c) 0
32 − 8 + 5
37. Solve the following equations.
(a) ( + 1) ( − 2) ≥ 0
(b) −22 + 6 − 3 5
(c) 52 + 3 + 1 0
2 + 2 − 2
(d) 3
2 + 3 − 4
5 + 7 2 + 21 2
(e) −
−2 +7 3
13
41. For which values of is the function () = ( − 2) + increasing? Decreasing? Constant?
42. Determine the sign of the given functions : R → R.
(a) () = 2 − 6 + 5
1
(b) () = 2 − +
4
2
(c) () = − − 5 − 6
(d) () = 2 + 3 + 13
(e) () = 0 42 − 5
43. Determine the sign of the given functions (also indicate the largest domain of definition of the function).
−3
(a) () =
+2
43 − 32
(b) () =
3 + ( + 2)3
44. Determine the number of solutions of the equation 2 −2 ( + 1) +8 = 0 in terms of the parameter ∈ R.
45. For what values of ∈ R we have ( − 1) 2 + + + 1 0 for any ∈ R?
46. For the given function, find the vertex, axis of symmetry and -intercepts (if any), then graph.
(a) () = 2 − 6 + 8
(b) () = −22 + 7 − 5
(c) () = −2 + 6 − 9
(d) () = 22 − 3 + 1
(e) () = −2 + 25
48. Determine the quadratic function () = 2 + + such that its graph passes through the points (1 2),
(−1 6) and (2 3).
49. Determine the quadratic function () = 2 + + with vertex at the point (4 −4) and -intercept
(0 12).
50. For the given functions : R → R, determine if they are (or not) increasing, decreasing, injective, surjective,
bijective. If they are bijective, also find the inverse function.
½
+ 1 0
(a) () =
2 + 1 ≥ 0
½
≤1
(b) () =
2 − 2 + 2 1
½
−2 + 1 ≤ 0
(c) () =
−2 + 1 0
14