Unit Tangent Unit Normal Unit Binormal Exercises

Moving Trihedral
Mathematics 54 - Elementary Analysis 2

Institute of Mathematics
University of the Philippines-Diliman

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 Unit Tangent Unit Normal Unit Binormal Exercises

The Moving Trihedral

Consider a particle moving along a curve, defined by ~

R(t).
The particle’s trajectory (path) can be characterized by three unit vectors,
namely
~
T (t) : unit tangent vector,
~ (t) : unit normal vector, and
N
~
B(t) : unit binormal vector.

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 Unit Tangent Unit Normal Unit Binormal Exercises

Unit Tangent Vector

Let C be a smooth curve defined by ~

R(t).The vector ~
R0 (t) is non-zero and is
tangent to the curve C. We define the unit tangent vector to the curve C by

~
R0 (t)
~
T (t) = .
k~
R0 (t)k

The unit tangent vector points in the same direction as ~

R0 (t), which is in
the direction of increasing parameter.

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 Unit Tangent Unit Normal Unit Binormal Exercises

Unit Tangent Vector

Example
Consider a moving particle whose path is given by ~
R(t) = 〈t 2 − 1, t〉.

The path of the particle is shown below. Now, ~

R0 (t) = 〈2t, 1〉.
¿ À
1 2t 1
Hence, ~
T (t) = p 〈2t, 1〉= p ,p .
4t 2 + 1 4t 2 + 1 4t 2 + 1

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 Unit Tangent Unit Normal Unit Binormal Exercises

When are ~
R(t) and ~
R0 (t) Orthogonal

In general, ~
R(t) and ~
R0 (t) are not perpendicular.

R(t)k is constant, then ~

But, in the case that k~ R(t) ⊥ ~
R 0 (t).

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 Unit Tangent Unit Normal Unit Binormal Exercises

k~
R(t)k = constant

Theorem.
If ~
R(t) has constant magnitude for all t, then

~
R(t) ·~
R 0 (t) = 0.

That is, ~
R(t) and ~
R 0 (t) are perpendicular for all t.

Proof. Let k~
R(t)k = k, where k is some constant.
Consider
d 2 d
0 = (k ) = (k~ Rk2 )
dt dt
d £
~R(t) ·~
¤
= R(t)
dt
= ~
R 0 (t) ·~
R(t) +~R(t) ·~
R 0 (t)
= 2~R 0 (t) ·~
R(t)

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 Unit Tangent Unit Normal Unit Binormal Exercises

k~
R(t)k = constant
Consider the circle ~R(t) = 〈cos t, sin t〉. Note that k~
R(t)k = 1.
~ 0
Now, R (t) = 〈− sin t, cos t〉.
By the previous theorem, ~
R(t) ⊥ ~
R 0 (t).

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 Unit Tangent Unit Normal Unit Binormal Exercises

Unit Normal Vector

Now, consider the vector ~

T 0 (t).
By the previous theorem, ~ T 0 (t) are perpendicular since k~
T (t) and ~ T (t)k = 1
for all t.
Note, however, that ~
T 0 (t) is not always a unit vector.
We define the vector
~
T 0 (t)
~ (t) =
N
k~
T 0 (t)k

as the unit normal vector to the space curve ~

R(t).

Remark
~ ~ are perpendicular.
T and N

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 Unit Tangent Unit Normal Unit Binormal Exercises

Unit Normal Vector

Example
Consider ~
R(t) = 〈ln t, t〉. Find ~ ~ (2).
T (2) and N

Solution. Differentiating ~ R, we have ~

­1
R 0 (t) =
®
t ,1 .
° 0 ° q1 p
Moreover, °~ R (t)° = t 2 + 1 = 1t 1 + t 2 .
D E
Hence, ~ T (t) = p 1 2 , p t 2 .
D 1+t E 1+t
~
Thus, T (2) = p1 , p2 .
5 5
D E
Now, ~ t
T (t) = − (1+t 2 )3/2 , (1+t12 )3/2 .
0
D E
And ~
T 0 (2) = − p 2 , p 1
125 125
Finally, D E Remark. In 2D space,
− p2 , p1 D E
~ (t) points towards
~ (2) =
N °D 125 125 E°
= − p2 , p1 N
° − p2 , p1 5 5 the concave side of the
° °
°
125 125
curve.

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 Unit Tangent Unit Normal Unit Binormal Exercises

Unit Normal Vector

Example
Let ~
R(t) = 〈2 cos t, 2 sin t, t〉. Find ~ ~ (t) at t =
T (t) and N 3π
4 .
° 0 ° p
R 0 (t) = 〈−2 sin t, 2 cos t, 1〉, and °~
Solution. We have ~ R (t)° = 5.
~
T (t) ~ (t)
N
D E
Thus, ~
T (t) = − p2 sin t, p2 cos t, p1 .
5 5 5
¡ 3π ¢ D p2 p2 1 E
And, ~
T 4 = −p ,−p , p .
5 5 5
D E
Now, ~ 0 2 2
T (t) = − p cos t, − p sin t, 0 .
5 5
And, °~
T (t)° = p2 .
° 0 °
5
~ (t) = 〈− cos t, − sin t, 0〉.
Hence, N
¡ 3π ¢ D p2 p2 E
~
And N 4 = 2 ,− 2 ,0 .

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 Unit Tangent Unit Normal Unit Binormal Exercises

Unit Binormal Vector

Consider a space curve ~

R(t) in 3D space.
Suppose ~ ~ (t) are its unit tangent and unit normal vectors at any
T (t) and N
t.
Define ~
B(t) by
~B(t) = ~ ~ (t).
T (t) × N
Since ~ ~ (t) are perpendicular unit vectors, then
T (t) and N

k~
B(t)k = k~ ~ (t)k = k~
T (t) × N ~ (t)k = 1.
T (t)kkN

We call ~
B(t) the unit binormal vector to the space curve ~
R(t)
Note that ~ ~ (t), and ~
T (t), N B(t) are three mutually perpendicular vectors.

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 Unit Tangent Unit Normal Unit Binormal Exercises

Unit Binormal

Example
Consider the space curve ~
R(t) = 〈2 cos t, 2 sin t, t〉. Compute ~
¡ 3π ¢
B 4 .

Solution. From the previous example, we have

µ ¶ * p p +
3π 2 2 1
~
T = −p ,−p , p
4 5 5 5

and µ ¶ *p p +
3π 2 2
~
N = ,− ,0 .
4 2 2
D p p E
Thus, ~ p2 , p2
¡ 3π ¢
B 4 = , p2 .
2 5 2 5 5

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 Unit Tangent Unit Normal Unit Binormal Exercises

TNB Frame

For different values of t, the three mutually perpendicular vectors ~ ~

T, N
and ~
B determine a coordinate system in 3D space.

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 Unit Tangent Unit Normal Unit Binormal Exercises

TNB Frame
Consider a space curve ~
R(t) in 3D space. We define the following planes.

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 Unit Tangent Unit Normal Unit Binormal Exercises

Other Formulas for TNB

The vectors ~ ~ (t), and ~

T (t), N B(t) follow the right-hand rule of the thumb.
And it can be shown that

~
B(t) = ~ ~ (t)
T (t) × N
~ (t) = ~
N B(t) × ~
T (t)
~
R 0 (t) ×~
R 00 (t)
~ ~ (t) ×~
T (t) = N B(t) Also, ~
B(t) = °
°~
R (t) ×~
°
0 R 00 (t)°

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 Unit Tangent Unit Normal Unit Binormal Exercises

Another Formula for ~

B(t)

Unit Binormal Vector

If ~
R(t) is a space curve in 3D space, then the unit binormal vector is also
given by
~
R 0 (t) ×~
R 00 (t)
~
B(t) = ° °.
°~
R 0 (t) ×~
R 00 (t)°

Proof. Recall that

~
B(t) = ~ ~ (t)
T (t) × N
~ 0
R (t) ~
T 0 (t)
= °×°
°~R (t)° °~
° °
0 T 0 (t)°
R 0 (t) × ~
~ T 0 (t)
= since ~
R 0 (t) ⊥ ~
T 0 (t)
°~
R 0 (t) × ~
° °
T 0 (t)°

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 Unit Tangent Unit Normal Unit Binormal Exercises

Unit Binormal Vector

Meanwhile,
h ° °i
~ ~ ~ d °~ 0
R 0 (t) dt R (t)°
R 0 (t) R 00
(t)
~
T (t) = ° =⇒ ~
T 0 (t) = ° °−
°~ °~ °~
°2
°
R 0 (t)° R 0 (t)°
°
R 0 (t)°

Thus,

~
R 0 (t) ×~ R 00 (t)
~
R 0 (t) × ~
T 0 (t) =
°~
° °
R 0 (t)°
°~R (t) ×~
° 0
R 00 (t)°
°
°~
R (t) × ~
° 0
T 0 (t)°
°
=
°~
° °
R 0 (t)°

Hence,
~
R 0 (t) ×~
R 00 (t)
~
B(t) = ° °.
°~
R 0 (t) ×~
R 00 (t)°

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 Unit Tangent Unit Normal Unit Binormal Exercises

Moving Trihedral

Example
R(t) = t, 21 t 2 , 13 t 3 . Compute the vectors ~
Let ~ ~ , and ~
­ ®
T, N B at t = 1.

Solution. We have

~
R 0 (t) = 〈1, t, t 2 〉 ~
R 00 (t) = 〈0, 1, 2t〉
~
R 0 (1) = 〈1, 1, 1〉 ~
R 00 (1) = 〈0, 1, 2〉
° 0 ° p ° 00 ° p
°~R (1)° = 3 °~R (1)° = 5
D E
Therefore, ~
T (1) = p1 〈1, 1, 1〉 = p1 , p1 , p1 .
3 3 3 3
~ 0 ~ 00 (1)
D E
And, ~
B(1) = R
°~
(1)×R ° = 〈1,1,1〉×〈0,1,2〉 〈1,−2,1〉
p1 , p
−2 p1
,
k〈1,1,1〉×〈0,1,2〉k = k〈1,−2,1〉k = .
R 0 (1)×~
°
R 00 (1)°
D E D E6 D6 6 E
~ (1) = ~
Finally, N B(1) × ~
T (1) = p1 , p
−2 p1
, × p1 , p1 , p1 = − p1 , 0, p1 .
6 6 6 3 3 3 2 2

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 Unit Tangent Unit Normal Unit Binormal Exercises

Exercises

t3 2
¿ À
1 Find the moving trihedral at t = 1 to ~
R(t) = , t , 2t .
3
2 Find the equation of the rectifying plane at t = 0 to the curve
 t
 x=e
y = 2e−t .
z = 2t


3 Find the equation of the normal plane to the curve given by

~
R(t) = 4t ı̂ − 2 sin t ̂ + 2 cos t k̂ at t = π.

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