ENGINEERING MATHEMATICS 1

BMFG 1313
VECTOR-VALUED FUNCTIONS
(UNIT BINORMAL VECTOR, CURVATURE & TORSION)
Ser Lee Loh1, Nur Ilyana Anwar Apandi2,
1slloh@[Link], 2ilyana@[Link]
 Lesson Outcome
Upon completion of this lesson, the student should be able to:
• Compute Curvature of a curve
• Compute Binormal vector ​of a curve
• Compute Torsion of a curve
8.8 Curvature

𝑧 The curvature of C at a given point measures

how quickly the curve changes at that point.

Tangent vector, 𝐓(𝑡) changes direction slowly

𝑦
when the curve C bends a bit as shown in the
𝐶 first two points in the diagram. When C twists
𝑥
more sharply, for example the third point in
Unit tangent vectors at the diagram, 𝐓(𝑡) changes direction more
equally spaced points on 𝐶 quickly.
8.8 Curvature
Curvature is the magnitude of the rate of change of the unit tangent vector with
respect to arc length,
𝑑𝐓
𝜅= .
𝑑𝑠
𝐓′ t
8.8.1 Proof of 𝜅 = :
𝐫 ′ (t)

𝑑𝐓 ′
𝑑𝐓 𝑑𝑡 𝐓 𝑡 𝐓′ 𝑡
𝜅= = = = ′
𝑑𝑠 𝑑𝑠 𝑑𝑠 𝐫 (𝑡)
𝑑𝑡 𝑑𝑡
Chain Rule
𝑓(𝑡)𝐅 𝑡 = 𝑓(𝑡) 𝐅 𝑡
8.8 Curvature
𝐫 ′ ×𝐫 ′′
8.8.2 Proof of 𝜅 = 𝐫′ 3
:
Rearrange tangent vector,
𝐫′
𝐓=
𝐫′
′ ′ 𝑑𝑠
𝐫 = 𝐫 𝐓= 𝐓
𝑑𝑡
Differentiate 𝐫 with respect to 𝑡,
′′ 𝑑2 𝑠 𝑑𝑠 ′
𝐫 = 𝐓 + 𝐓
𝑑𝑡 2 𝑑𝑡
Find the cross product between 𝐫 ′ and 𝐫 ′′ ,
′ ′′ 𝑑𝑠 𝑑2 𝑠 𝑑𝑠 ′
𝐫 ×𝐫 = 𝑑𝑡
𝐓× 𝑑𝑡 2
𝐓 + 𝑑𝑡
𝐓
𝑑𝑠 𝑑2 𝑠 𝑑𝑠 𝑑𝑠 ′
= 𝐓× 𝐓 + 𝐓 × 𝐓
𝑑𝑡 𝑑𝑡 2 𝑑𝑡 𝑑𝑡
𝐓×𝐓=𝟎 𝑑𝑠 2
= 𝐓 × 𝐓′
𝑑𝑡
8.8 Curvature
𝐫 ′ ×𝐫 ′′
Proof of 𝜅 = (cont.):
𝐫′ 3
Compute the magnitude of 𝐫 ′ × 𝐫 ′′ ,
𝑑𝑠 2
𝐫′ × 𝐫 ′′ = 𝐓 × 𝐓′
𝑑𝑡
𝑑𝑠 2
= 𝐓 𝐓′ since 𝐓 and 𝐓 ′ are orthogonal
𝑑𝑡
𝑑𝑠 2
= 𝐓′ since 𝐓 = 1
𝑑𝑡
Rearrange the equation,
𝐫 ′ ×𝐫 ′′ 𝐫 ′ ×𝐫 ′′
𝐓′ = 𝑑𝑠 2
=
𝐫′ 2
𝑑𝑡
𝐓′
Since 𝜅 = as proven in Section 8.8.1,
𝐫′
𝐫 ′ × 𝐫 ′′
𝐓′ 𝐫′ 2 𝐫 ′ × 𝐫 ′′
𝜅= ′ = ′
=
𝐫 𝐫 (𝑡) 𝐫′ 3
8.8 Curvature
8.8.3 Curvature of Plane Curves
In a plane curve, the sign of curvature indicates the direction of rotation of the
tangent vector, 𝐓 as a function of the parameter along the curve.
If 𝐓 rotates in counterclockwise direction (or the unit Normal vector, 𝐍 points to the
osculating circle), it gives positive curvature. If it rotates in clockwise, it gives negative
curvature.
𝜅<0 Red colour represents
unit tangent vectors, 𝐓
Osculating
and
Osculating circle blue colour represents
circle
unit normal vectors, 𝐍.

𝜅>0
8.8 Curvature
8.8.3 Curvature of Plane Curves
Curvature measures on the non-linearity at a point P.

V
- A curve with zero curvature is a line. Hence, curvature at point W is zero.
- Based on the rotation direction of the Tangent vector (or direction of Normal
vector), curvature at point U is negative while curvature at point V is positive.
8.8 Curvature
8.8.3 Curvature of Plane Curves
1
Radius of curvature, 𝑅 = 𝜅 Radius of
U curvature
Center of
curvature

- Curvature at point U is higher than the one at point V since tangent vector bends
more at point U compared to point V.
- Radius of curvature at point U is smaller compared to point V as radius of
curvature is inversely proportional to the radius of curvature.
8.8 Curvature
8.8.4 Curvature of Space Curves
For a moving particle with unit speed along a space curve, curvature is the magnitude
of its acceleration. Different from curvature in a plane curve, curvature of a space
curve is always non-negative [0, ∞).
𝐁

Curvature of space curve will be discussed again after Binormal vector, 𝐁 is

introduced in the next section.
8.8 Curvature
Example:
𝐓′ 𝑡
Find the curvature of 𝐫 𝑡 = 3 cos 𝑡 , 3 sin 𝑡 , 𝑡 by using the formula 𝜅 = .
𝐫 ′ (𝑡)
Solution:
𝐫 𝑡 = 3 cos 𝑡 , 3 sin 𝑡 , 𝑡
𝐫 ′ 𝑡 = −3 sin 𝑡 , 3 cos 𝑡 , 1
𝐫 ′ (𝑡) = (−3 sin 𝑡)2 +(3 cos 𝑡)2 +12 = 9sin2 𝑡 + 9cos2 𝑡 + 1 = 10
𝐫 ′ (𝑡) 1
𝐓 𝑡 = = −3 sin 𝑡 , 3 cos 𝑡 , 1
𝐫 ′ (𝑡) 10
′
1
𝐓 (𝑡) = −3 cos 𝑡 , −3 sin 𝑡 , 0
10
′ 1 3
𝐓 (𝑡) = (−3 cos 𝑡)2 +(−3 sin 𝑡)2 +02 =
10 10
𝐓′ 𝑡 3/ 10 3
∴𝜅= = =
𝐫 ′ (𝑡) 10 10
8.8 Curvature
Example:
𝐫 ′ ×𝐫 ′′
Find the curvature of 𝐫 𝑡 = 4 cos 2𝑡 , 4 sin 2𝑡 by using the formula 𝜅 = .
𝐫′ 3
Solution:
𝐫 𝑡 = 4 cos 2𝑡 , 4 sin 2𝑡
𝐫 ′ 𝑡 = −8 sin 2𝑡 , 8 cos 2𝑡
𝐫 ′ (𝑡) = (−8 sin 2𝑡)2 +(8 cos 2𝑡)2 = 8
𝐫 ′′ 𝑡 = −16 cos 2𝑡 , −16 sin 2𝑡
−8 sin 2𝑡 −16 cos 2𝑡
𝐫 ′ × 𝐫 ′′ = 8 cos 2𝑡 × −16 sin 2𝑡 = 128sin2 2𝑡 + 128cos2 2𝑡 𝐤 = 128𝐤
0 0
𝐫 ′ × 𝐫 ′′ = 128
𝐫 ′ × 𝐫 ′′ 128 1
∴𝜅= ′ 3
= 3 =
𝐫 8 4
8.8 Curvature
Exercise 8.12:
𝐓′ 𝑡
1) Find the curvature of 𝐫 𝑡 = 𝑎 cos 𝑡 , 𝑎 sin 𝑡 by using the formula 𝜅 = .
𝐫 ′ (𝑡)
1
[Ans: 𝜅 = 𝑎]

𝐫 ′ ×𝐫 ′′
2) Find the curvature of 𝐫 𝑡 = 3𝑡, 4 sin 𝑡 , 4 cos 𝑡 by using the formula 𝜅 = 𝐫′ 3
.
4
[Ans: 𝜅 = 25]

3) Find the curvature of the curve 𝐫 𝑡 = 𝑡, 2𝑡 2 .

4
[Ans: 𝜅 = ]
(1+16𝑡 2 )3/2
8.9 Unit Binormal Vector
When one is facing to the direction of tangent vector 𝐓, the normal vector 𝐍 points
out from one’s left and it is perpendicular to 𝐓, while Binormal vector 𝐁 points
upward from one’s top and it is perpendicular to both tangent and normal vectors
as shown in the diagram.

Given a smooth curve 𝐫 𝑡 ,

Unit Binormal Vector:
𝐁 𝑡 =𝐓 𝑡 ×𝐍 𝑡
𝐓 𝐍

Vectors 𝐓 𝑡 , 𝐍 𝑡 and 𝐁 𝑡
8.9 Unit Binormal Vector
A Binormal vector, 𝐁 forms an orthogonal coordinate system with Tangent vector, 𝐓
and Normal vector, 𝐍 along a space curve where 𝐓, 𝐍 and 𝐁 satisfy the Right-Hand
Thumb Rule as follows:
𝐓 𝑡 =𝐍 𝑡 ×𝐁 𝑡
𝐍 𝑡 =𝐁 𝑡 ×𝐓 𝑡
𝐁
𝐁 𝑡 = 𝐓 𝑡 ×𝐍 𝑡

Vectors 𝐓, 𝐍 and 𝐁 forms a frame, 𝐍

𝐓
called Frenet-Serret frame.

Frenet-Serret frame
8.9 Unit Binormal Vector

Let 𝐫 be a vector-valued function that represents a

smooth curve, 𝐶.
The Osculating Plane:
Spanned by Tangent vector, 𝐓 and Normal vector, 𝐍.
Binormal Vector 𝐁 is normal to the osculating plane. Osculating Plane
𝐶
8.9 Unit Binormal Vector

Let 𝐫 be a vector-valued function that represents a Rectifying Plane

smooth curve, 𝐶.
The Rectifying Plane:
Spanned by Binormal vector, 𝐁 and Tangent vector, 𝐓.
Normal Vector 𝐍 is normal to the rectifying plane.

𝐶
8.9 Unit Binormal Vector

Let 𝐫 be a vector-valued function that represents a Normal Plane

smooth curve, 𝐶.
The Normal Plane:
Spanned by Binormal vector, 𝐁 and Normal vector, 𝐍.
Tangent Vector 𝐓 is normal to the normal plane.

𝐶
8.9 Unit Binormal Vector
Along a space curve, there are Frenet-Serret frames on the evenly-spaced points on the
curve to show the direction of a moving particle. Tangent vector, 𝐓 points in the moving
direction.
Imagine a boy is riding a roller coaster. The boy is facing to the direction of tangent vector
which points to the moving direction, and is sitting on the osculating plane. Hence,
normal vector is pointing 90° to its left and binormal vector is pointing upwards from his
head. That boy is somehow sitting in a Frenet-Serret frame. At every single second during
the ride, the frames are moving and rotating in different directions as follows:

𝐍
𝐓

Frenet-Serret frames along a curve

8.9 Unit Binormal Vector
Example 1:
Find the binormal vector for the curve traced out by
𝐫 𝑡 = sin 𝑡 , cos 𝑡 ,3𝑡 . Next, compute binormal vector at 𝑡 = 𝜋.

Solution:
𝐫′ 𝑡 = cos 𝑡 , − sin 𝑡 , 3
𝐫 ′ (𝑡) = (cos 𝑡)2 +(− sin 𝑡)2 +(3)2 = 10
1
𝐓 𝑡 = cos 𝑡 , − sin 𝑡 , 3
10
1
𝐓′ 𝑡 = − sin 𝑡 , − cos 𝑡 , 0
10
′ 1 2 2 2 1
𝐓 (𝑡) = (− sin 𝑡) +(− cos 𝑡) +(0) =
10 10
𝐍 𝑡 = − sin 𝑡 , − cos 𝑡 , 0
8.9 Unit Binormal Vector
Solution (cont.):
𝐁 𝑡 = 𝐓 𝑡 ×𝐍 𝑡
cos 𝑡 − sin 𝑡
1
= 10
− sin 𝑡 × − cos 𝑡
3 0
1
= 3 cos 𝑡 , −3 sin 𝑡 , −1
10

Hence,
1 1
𝐁 𝜋 = 3 cos 𝜋 , −3 sin 𝜋 , −1 = −3, 0, −1 .
10 10
8.9 Unit Binormal Vector
Example 2:
Find the binormal vector at 𝑡 = 0 for the curve traced out by
𝐫 𝑡 = 2𝑡, cos 3𝑡, sin 3𝑡 .
Solution:
𝐫′ 𝑡 = 2, −3 sin 3𝑡 , 3 cos 3𝑡
𝐫 ′ (𝑡) = (2)2 +(−3 sin 3𝑡)2 +(3 cos 3𝑡)2 = 13
1
𝐓 𝑡 = 13
2, −3 sin 3𝑡 , 3 cos 3𝑡
1
𝐓′ 𝑡 = 13
0, −9 cos 3𝑡 , −9 sin 3𝑡
1 9
𝐓 ′ (𝑡) = (0)2 +(−9 cos 3𝑡)2 +(−9 sin 3𝑡)2 =
13 13
𝐓′ 𝑡
𝐍 𝑡 = 𝐓′ 𝑡
= 0, − cos 3𝑡 , − sin 3𝑡
8.9 Unit Binormal Vector
Solution (cont.):
Substitute 𝑡 = 0 into 𝐓 𝑡 and 𝐍 𝑡 :
1 1
𝐓 0 = 2, −3 sin 3(0) , 3 cos 3(0) = 2, 0,3
13 13
𝐍 0 = 0, − cos 3(0) , − sin 3(0) = 0, −1,0
𝐁 0 =𝐓 0 ×𝐍 0
2 0
1
= 0 × −1
13
3 0
1
= 13
3, 0, −2
8.9 Unit Binormal Vector
Exercise 8.13:
1) Find the binormal vector for the curve traced out by 𝐫 𝑡 = sin 2𝑡 , cos 2𝑡, 𝑡 .
2) Find the binormal vector for the curve traced out by 𝐫 𝑡 = 𝑡, 3 sin 𝑡 , 3 cos 𝑡 .
3) Find the binormal vector at 𝑡 = 1 for the curve 𝐫 𝑡 = 𝑡, 2𝑡, 𝑡 2 .

1 1 2 1
[Ans: cos 2𝑡 , − sin 2𝑡 , −2 ; −3, cos 𝑡 , − sin 𝑡 ; ,− ,0 ]
5 10 5 5
8.10 Torsion
𝐁
The torsion of a curve measures how much
is the curve twisted out from a planar form.
In other words, torsion measures how
much is the osculating plane rotates around 𝐍
𝜏
the tangent vector. 𝐓

Torsion of a curve is the magnitude of the rate of change of the unit binormal vector
with respect to arc length,
𝑑𝐁 ′
𝑑𝐁 𝑑𝑡 𝐁 𝑡 𝐁′ 𝑡
𝜏= = = = ′
𝑑𝑠 𝑑𝑠 𝑑𝑠 𝐫 (𝑡)
𝑑𝑡 𝑑𝑡
8.10 Torsion
Torsion measures the non-planarity of a space curve at point P.
- A curve with zero torsion lies in a plane and is known as planar curve.
- The sign of torsion refers to the direction of rotation of the osculating plane as
follows:
Case 2 Case 1 Case 3

In case 2, the In case 1, the In case 3, the

osculating plane osculating plane is osculating plane
rotates in right- parallel to 𝑥𝑦-plane, rotates in left-
handed screw, 𝜏=0 handed screw, 𝐁
𝜏>0 𝜏<0 𝐍
𝐓
8.10 Torsion
Some Examples: Given 𝑏, 𝑐 and 𝑑 constants:

𝜅 = 0 and 𝜏 = 0 shows a line.

𝜅 = 𝑐 > 0 and 𝜏 = 0
shows a circle that lies in a plane.
𝜅 = 𝑐 > 0 and 𝜏 = 𝑏 > 0
shows a right-handed screw helix.
𝜅 = 𝑐 > 0 and 𝜏 = 𝑑 < 0
left-handed right-handed
shows a left-handed screw helix. screw helix screw helix
𝜅 = 𝑐 > 0 and 𝜏 > 0
E.g. slinky.
A stretched slinky has larger torsion larger smaller
compared to a compacted slinky. torsion torsion
8.10 Torsion
Example 1:
Find the torsion for the curve traced out by
𝐫 𝑡 = sin 𝑡 , cos 𝑡 ,3𝑡 .
Solution:
From the Example 1 in Section 8.9,
1
𝐫 ′ (𝑡) = 10 and 𝐁 𝑡 = 3 cos 𝑡 , −3 sin 𝑡 , −1 .
10
Hence,
1
𝐁′ 𝑡 = −3 sin 𝑡 , −3 cos 𝑡 , 0
10
1 3
𝐁′ 𝑡 = 10
(−3 sin 𝑡)2 +(−3 cos 𝑡)2 +(0)2 = 10
3
𝐁′ 𝑡 10 3
∴𝜏= = =
𝐫 ′ (𝑡) 10 10
8.10 Torsion
Example 2:
Find the torsion for the curve traced out by
𝐫 𝑡 = 2𝑡, cos 3𝑡, sin 3𝑡 .
Solution:
From the Example 2 in Section 8.9,
′ 1
𝐫 (𝑡) = 13, 𝐓 𝑡 = 2, −3 sin 3𝑡 , 3 cos 3𝑡 and 𝐍 𝑡 = 0, − cos 3𝑡 , − sin 3𝑡
13
Hence,
2 0
1 1
𝐁 𝑡 =𝐓 𝑡 ×𝐍 𝑡 = 13
−3 sin 3𝑡 × − cos 3𝑡 = 13
3, 2 sin 3𝑡 , −2 cos 3𝑡
3 cos 3𝑡 − sin 3𝑡
1
𝐁′ 𝑡 = 13 0, 6 cos 3𝑡 , 6 sin 3𝑡
1 6
𝐁′ 𝑡 = 13
(0)2 +(6 cos 3𝑡)2 +(6 sin 3𝑡)2 = 13
6
𝐁′ 𝑡 13 6
∴𝜏= = =
𝐫 ′ (𝑡) 13 13
8.10 Torsion
Exercise 8.14:
1) Find the torsion for the curve in Question 1 from Exercise 8.13.

2) Find the torsion for the curve in Question 2 from Exercise 8.13.

2 1
[Ans: ; ]
5 10