Question: How do you differentiate vector functions in Maple 16?

I am having trouble figuring out how to input the following functions:

 

1. Use Maple to find (vector)T for the vector function r=(cost+tsint)i+(sint-tcost)j+5k

 

 

2. Find the length of the curve, r=(3cost)i+(3sint)j+2t^(3/2)k , 0≤t≤3

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