Tangent vector

For a more general, but more technical, treatment of tangent vectors, see Tangent space.

In mathematics, a tangent vector is a vector that is tangent to a curve or surface at a given point. Tangent vectors are described in the differential geometry of curves in the context of curves in Rⁿ. More generally, tangent vectors are elements of a tangent space of a differentiable manifold. Tangent vectors can also be described in terms of germs. Formally, a tangent vector at the point ${\displaystyle x}$ is a linear derivation of the algebra defined by the set of germs at ${\displaystyle x}$.

Motivation

Before proceeding to a general definition of the tangent vector, we discuss its use in calculus and its tensor properties.

Calculus

Let ${\displaystyle \mathbf {r} (t)}$  be a parametric smooth curve. The tangent vector is given by ${\displaystyle \mathbf {r} '(t)}$ , where we have used a prime instead of the usual dot to indicate differentiation with respect to parameter t.^[1] The unit tangent vector is given by

$${\displaystyle \mathbf {T} (t)={\frac {\mathbf {r} '(t)}{|\mathbf {r} '(t)|}}\,.}$$

 

Example

Given the curve

$${\displaystyle \mathbf {r} (t)=\left\{\left(1+t^{2},e^{2t},\cos {t}\right)\mid t\in \mathbb {R} \right\}}$$

 

in ${\displaystyle \mathbb {R} ^{3}}$ , the unit tangent vector at ${\displaystyle t=0}$  is given by

$${\displaystyle \mathbf {T} (0)={\frac {\mathbf {r} '(0)}{\|\mathbf {r} '(0)\|}}=\left.{\frac {(2t,2e^{2t},-\sin {t})}{\sqrt {4t^{2}+4e^{4t}+\sin ^{2}{t}}}}\right|_{t=0}=(0,1,0)\,.}$$

 

Contravariance

If ${\displaystyle \mathbf {r} (t)}$  is given parametrically in the n-dimensional coordinate system xⁱ (here we have used superscripts as an index instead of the usual subscript) by ${\displaystyle \mathbf {r} (t)=(x^{1}(t),x^{2}(t),\ldots ,x^{n}(t))}$  or

$${\displaystyle \mathbf {r} =x^{i}=x^{i}(t),\quad a\leq t\leq b\,,}$$

 

then the tangent vector field ${\displaystyle \mathbf {T} =T^{i}}$  is given by

$${\displaystyle T^{i}={\frac {dx^{i}}{dt}}\,.}$$

 

Under a change of coordinates

$${\displaystyle u^{i}=u^{i}(x^{1},x^{2},\ldots ,x^{n}),\quad 1\leq i\leq n}$$

 

the tangent vector ${\displaystyle {\bar {\mathbf {T} }}={\bar {T}}^{i}}$  in the uⁱ-coordinate system is given by

$${\displaystyle {\bar {T}}^{i}={\frac {du^{i}}{dt}}={\frac {\partial u^{i}}{\partial x^{s}}}{\frac {dx^{s}}{dt}}=T^{s}{\frac {\partial u^{i}}{\partial x^{s}}}}$$

 

where we have used the Einstein summation convention. Therefore, a tangent vector of a smooth curve will transform as a contravariant tensor of order one under a change of coordinates.^[2]

Definition

Let ${\displaystyle f:\mathbb {R} ^{n}\to \mathbb {R} }$  be a differentiable function and let ${\displaystyle \mathbf {v} }$  be a vector in ${\displaystyle \mathbb {R} ^{n}}$ . We define the directional derivative in the ${\displaystyle \mathbf {v} }$  direction at a point ${\displaystyle \mathbf {x} \in \mathbb {R} ^{n}}$  by

$${\displaystyle \nabla _{\mathbf {v} }f(\mathbf {x} )=\left.{\frac {d}{dt}}f(\mathbf {x} +t\mathbf {v} )\right|_{t=0}=\sum _{i=1}^{n}v_{i}{\frac {\partial f}{\partial x_{i}}}(\mathbf {x} )\,.}$$

 

The tangent vector at the point ${\displaystyle \mathbf {x} }$  may then be defined^[3] as

$${\displaystyle \mathbf {v} (f(\mathbf {x} ))\equiv (\nabla _{\mathbf {v} }(f))(\mathbf {x} )\,.}$$

 

Properties

Let ${\displaystyle f,g:\mathbb {R} ^{n}\to \mathbb {R} }$  be differentiable functions, let ${\displaystyle \mathbf {v} ,\mathbf {w} }$  be tangent vectors in ${\displaystyle \mathbb {R} ^{n}}$  at ${\displaystyle \mathbf {x} \in \mathbb {R} ^{n}}$ , and let ${\displaystyle a,b\in \mathbb {R} }$ . Then

1. ${\displaystyle (a\mathbf {v} +b\mathbf {w} )(f)=a\mathbf {v} (f)+b\mathbf {w} (f)}$ 
2. ${\displaystyle \mathbf {v} (af+bg)=a\mathbf {v} (f)+b\mathbf {v} (g)}$ 
3. ${\displaystyle \mathbf {v} (fg)=f(\mathbf {x} )\mathbf {v} (g)+g(\mathbf {x} )\mathbf {v} (f)\,.}$ 

Tangent vector on manifolds

Let ${\displaystyle M}$  be a differentiable manifold and let ${\displaystyle A(M)}$  be the algebra of real-valued differentiable functions on ${\displaystyle M}$ . Then the tangent vector to ${\displaystyle M}$  at a point ${\displaystyle x}$  in the manifold is given by the derivation ${\displaystyle D_{v}:A(M)\rightarrow \mathbb {R} }$  which shall be linear — i.e., for any ${\displaystyle f,g\in A(M)}$  and ${\displaystyle a,b\in \mathbb {R} }$  we have

${\displaystyle D_{v}(af+bg)=aD_{v}(f)+bD_{v}(g)\,.}$ 

Note that the derivation will by definition have the Leibniz property

${\displaystyle D_{v}(f\cdot g)(x)=D_{v}(f)(x)\cdot g(x)+f(x)\cdot D_{v}(g)(x)\,.}$ 

See also

• Differentiable curve § Tangent vector
• Differentiable surface § Tangent plane and normal vector

References

1. J. Stewart (2001)
2. D. Kay (1988)
3. A. Gray (1993)

Bibliography

• Gray, Alfred (1993), Modern Differential Geometry of Curves and Surfaces, Boca Raton: CRC Press.
• Stewart, James (2001), Calculus: Concepts and Contexts, Australia: Thomson/Brooks/Cole.
• Kay, David (1988), Schaums Outline of Theory and Problems of Tensor Calculus, New York: McGraw-Hill.