CHAPTER

Evolute and Involute

@ Introduction
In Engineering and Applied Science, Evolute and Involutes have wide applications. Both
Evolutes and Involutes are some particular curves which can be determined from other
curves. For example, evolute of cycloid is a cycloid but evolute of an ellipse is a non-symmetric
astroid. In particular, involutes are very much important in gear technology. Further it
should be noted that at present most of the gear shaping teeth are of involute shapes. We
know that scroll compressoris more efficient than the conventionalcompressorbut a scroll
compressor can be built up with the geometry of involute of a circle.
There are many methods to determine the evolute and involute of a particular curve. But
in the problems associated in this chapter, we mainly use the mechanical formula to obtain
evolute as well as involute of various curves, mainly in parametric form,

Evolute Of a Curve : Curvature Approach

Before going to define what we mean by an evolute of a curve, let us first define curvature
of a curve.
Definition : The rate of change of direction of the curve at a given point is known as the
curvature of the curve at that point.
O Determination of Curvature and Radius of Curvature
With respect to the Cartesian coordinate axes (OX,
OY)let an arc of a given curve y = f(x) be measured
from a fixed point F on the curve (see Fig. 1.1). Let P
and Q be two neighbouring points on the curve y = f(x).
As T
We now draw two tangents APB and CQP at P and Q
respectively which intersect at the point T and meet
x-axis at A and C respectively. Let arc FP = s and arc
FQ = s + As, so that arc PQ = As (see Fig. 1.1). Also o c x
let tangents at P and Q make angles and + AV
Fig.I I
 2 | Fundamental Engineering Mathematics
respecitvely with the positive direction of x-axis. Then the angle ZBTD between the tangents
is known as the angle of incidence of the arc PQ.
• — is called the average curvature of the arc PQ at the point P. When the
Now the ratio
As
point Q -9 P along the curve, then the limiting value is
lim = lim — [since As —Y
0, as Q —iP]
= (say)
Therefore curvature of the curve at the point P is given by and the radius of cur-
ds
vature of the curve at the same point P is nothing but the reciprocal of curvature at P i.e.,
The radius of curvature of the curve at P is commonlydenoted by p and the curvature
at P is denoted by k.
Thus the curvature k = — and the radius of curvature p = ds
ds

Geometry behind Radius of Curvature

We consider that the two normals of the curve
y = /(x) at points P and Q such that they meet at C'.
Now we make Q —iP along the curve, consequently the c c'
intersecting point of normals C' approaches to a definite
point C (say) on the normal at P (see Fig. 1.2).Thus, in
the limiting sense the point C is the ultimate point of P
intersection of two normals indefinitely close together.
The length PC is known as the radius of curvature of
the given curve y = /tx) at the point P. x' O x
A M
O Formula for Radius of Curvature (p) Y' Fig. 1 2
To determine the radius of curvature (p) for various
types of curve we have the following formula :
l. For the curve s = p=
2. For the curve x = x(s), y = y(s), p = 1

3. For the curve in cartesian coordinates, i.e., if the curve is y = /(x) then

, provided d Y
d2y
dx2
 Evolute and Involute 3

For the curve y = /(x), if becomes infinity then p = , provided

2
dy2
dy2
5. For the implicit curve ftx, y) = 0,

where =
fxxfy2 -2f xyffx y yy x Ox2 XY= Oxöy' Y" öy2

dx 2 dy 2 2
dt
6. For the parametric curve x = = g(t), p = 2 , provided the denominator
does not vanish at the concernedpoint.

d2r
l. For the curve in polar equation r = /(9), p = 2 2 where rl de ' r2 d02
provided the denominator does not vanish at the concerned point.
dr
8. For the curve in pedal equationp = f(r), p = r—
dp

Circle of Curvature
We consider three adjoining points P, Q and R on a curve y = f(x). Now a circle may be
drawn passing through all those three points. When these points are sufficiently close to each
other then PQ and QR become tangents to both the curve and then
the circle. Therefore at the point of coincidencethe curve y = flx)
and the circle have the same angle ZRQX of incidence (see Fig. 1.3).
Therefore, the curvatures of the curve y = flx) and the circle at the
point of contact are same. Hence the curvature of a curve at a given x
point with reference to a circle can be drawn. Thus consideringthe
existence of such a circle, for each point of a curve, called circle of
curvature of that point. Also the centre and radius of this circle are
called centre of curvature and radius respectively.
Note

The equation of the circle of curvature corresponding to any point P(x, y) on the curve is
(x —E + (y —y = p2 with ) as centre of curvature and p as radius of curvature.

Centre Of Curvature and Evolute

Let , j) be the centre ofcurvature corresponding to any point P(x, y) on the curve y = flx).
Then the equation of the normal at P(x, y) is
(Y -ybl + (X -x) = O —
- 42).
dx
 4 Fundamental Engineering Mathematics
Since centre of curvature C(i, S') lies on the normal, so we get
¯
(Y —Y)YI + (i —x)= 0 giving x- x = —(y -yb'l
Hence PC = p [radius of curvature at P(x,y))
= (1 + Y'2 )3
i.e., PC2 = p2 i.e., (i —x)2+ (Y —y)2= p2

[using (1)1
Y2
.1
1+Y1
i.e., (Y + y}) =

(2)
Y2
Now from (1), —x = Yl giving =x —
Y2 Y2
From (2) and (3) we get the formulae for centre of curvature as follows :

Y2 2
¯dx dx
Thus if (h, k) be the centre of curvature then we can write h = x —
dxi

and k = y + [If the curve is y =

dx2
Similarly, if the curve is in parametric form x = x(t), y = y(t) and (h, k) be a variable point
on the evolute then we have,

h = x(t) —
dt dt2 dt2 dt
2
dt dt
and k = y(t) +
d2y
dt dt2 dt2 dt
Now we are in a position to define evolute of a curve.
Definition: The locus of centre of curvature of a curve is known as the evolute of the
given curve.
O Computational Procedure : To find the evolute of a parametric curve, first simplify
the value of h and k [Expressionof h and k are given in (3) and and then the locus
be
of (h, k) is the required evolute of the given curve. In this case the evolute will also
first find the
in parametric form. On the other hand if the given curve is y = flx), then the
value of (h, k) at an arbitrary point (Xl,"1) which is on the curve y = /(x). Next find
of
locus of (h, k) by eliminating Xl,Yl from the expressions of h and k [The expressions
obtain the equation
h, k are given in (1) and (2))and the functional relation Yl = /(XI)to
of the evolute. Details are discussedin illustrated examples.
 Evoluteand Involute 15
Evolute of a Curve : Envelope Approach
Earlier we have derived the method to find the evolute of a curve by finding radius of
curvature of the corresponding curve. However
finding envelope of a curve then also one can
find evolute of the curve. So let us first define envelope of a curve.
Definitionof envelope : Envelope of a family of
curves fix, y, a) = O,(where a is a parameter) is a curve
which touches each member tangent
of the family and each
point on the curve is touched by some member of the given curve
(involute)
family.
Definitionof evolute : The evolute of a curve is (evolute)
defined as the envelope of the family of normals to the X' x
curve. Fig. 1.4
Notes
1. To find the evolute of a curve, we first find out its family of normals and then determine
the envelope of such family.
2. Normals to a given curve are tangents to the evolute (see the adjoining Fig. 1.4)
3. The evolute is touched by the normals of the given curve, called the involute.

O Involute
An involute of a curve is another curve such that it
is dependent on the original curve. The formal definition catenary
evolute
of an involute of a curve is traced by the free end of a
thread unwound from of that curve such that the thread tractrix involute
is always tight and tangential to the original curve. In
this case the original curve is known as the evolutesFor X' x
Illustration we can say that a tractrix is an involute of a
catenery where as the evolute of the tractrix is a catenery
Fig. 1.5
(see Fig. 1.5).

Computational Procedure to Determine Involute

Let we are given a parametric curve x = x(t), y = y(t). Also let (h, k) be a variable point
on the involute of the curve x = x(t), y = y(t). Then (h, k) can be obtained by simplifying the
following relations :

h = x(t) — at dt and k dt
dt 2 Jb \ dt dt dt

where b is a constant. Now the locus of the point (h, k) is the involute curve which is also
in parametric form. Now for different values of b we get a set of parallel involutes. Hence we
 6 Fundamental Engineering Mathematics
should remembered that the involute of a curve is not unique. But sometimes we need to put
Hence loc
a particular value of the constant 'b', may be 0, n, — or other number to obtain the simplified which is t
form of the involute among all possible involutes. Therefore sometimes the simplified form of Alternativ
the involute is treated as the involute of the given parametric curve.
The para:
Illustrative Examples
We first
Different

Find the evolute of the parabola Y2 = 4ax. Therefor

Solution Here the given equation of the curve in pårametric form is Hence n
Y - 20t
i.e., tx +
If (h, k) be a variable point on the evolute of the parabola (I), then we know that, Now (2)
ill
( d.x
2 Next we fr
dt
h = x(t) — Differer
dt dt2
x = 2a
dt 2 dt
2 i.e., x—
dt dt Using (
and k = y(t) +
d2y - db
dt dt2 dt 2 dt tx + y
From the parametric equation of the curve (1) we have,
2
dx
— = 2at, —
d x
2a, = 2a and 42' = O
dt dt2 dt dt2
dx dy 2
Therefore, = (2at)2 + (2a)2 = 4a 2(1 + t 2)
dt dt
or,
and —dx d2y d2xgx = (2at)(O)—(2a)(2a) = —4a2
4
dt dt2 dt2 dt or, —
9
Using (4) and (5) in (2) and (3), we respectively have, 4
2a14a2(1 + t2))
or, —
9
h = at 2 — 2
= at 2 + 2a(1 + t 2) = 3at2 + 2a
or,

i.e., t = This
u Alterr
and k = 2at + 2
= 2at —2at(1 + t2) = —2at3
Give)

2a Ther
Now eliminating t between (6) and (7) we have,
3 2
h —2a k
i.e., 4(h —2a)3 = 27ak 2 dx2
3a 2a
 Evolute and Involute
Hence locus of the point (h, k) is 4(x —2a)3 =
27ay2
which is the equation of required evolute of the
parabola Y2= 4ax
AlternativeMethod-I
The parametric equation of the parabola Y2= 2
4ax are x = at ...(1)
We first find the normal at 't' to the parabola. Y= 2at
Differentiating(1) with respect to 't', we get dx 2at, = 2a
ax 2at dt dt
dx .dL
—
Therefore, dy
dt
2a = t
Hence normal at 't' is given by
y -- 2at = t(x -- at 2)
i.e., tx + y = 2at + at a ...(2)
Now (2) is the family of normals of the parabola Y2= 4ax, where 't' is the parameter.
Next we find the envelope of (2), which is the evolute of the parabola.
Differentiating(2) with respect to t, we get,
x = 2a + 3at2
i.e., x —2a = 3at2 giving t2 = x—2a ...(3)
3a
Using (3) in (2) we get,
tx + y = 2at + at

or, y + tx = 2at + tx 2a
or, y + —tx—
3

(3
or, —(2a —x)2t2 = Y2

or, —(2a —x)2. x—2a_ Y2 [using

(3))
3a
or, - 2a)3 = '27ay2
This is the required evolute of the parabola Y2 = 4ax.
Alternative Method-2
Given parametric equation of the parabola is x = at 2, y = 2at
dy
dy
Therefore, dx ¯ ¯ —givingYl = ¯ ¯ 1
2at ¯ t dx ¯ t
d2y 1 dt 1
giving Y2 = d2y
1
dx2 t 2 dt 2at dx2 2at3
 Fundamental Engineering Mathematics
¯
Let (i, y) be the centre of curvature, then we know that

at 2 + 2at2 + 2a = 3at2 + 2a
and k = Y
2ata
x From (2)
i.e., -—-z?g = t2
3a
1+1 ah
and = y + 1+Yl = 2at+ 2at 3
(2 = 2at —2at3 —'2at = —e
a2 —b2
Y2

i.e., (Y)2 = = 4a 2 x 2a [Using (I)J Similarly

3a
270 2= - 2a)3
Adding
So the equation of the locus of (i, Y)i.e., the equation if the evolute is
27ay 2 = 4(x — 2a) 3. (ah)a +

Find the evolute of the ellipse — Hence th

a2 b2
(ax) 3 + (b
Solution Given equation of the ellipse is
a2 b2 Alternatil
Differentiating (1) with respect to x we have,
The pare
a2 b2 dx
dy
We first
L.e.,Y1 =
dx Y a2 Different
Again differentiating (1) with respect to y we have
Now —
dx
dy
d 2y b2 Y
Y2 = Therefor
dx2 a2 2 a 2
b2 b2x2+a2y2
b2 a 2b2 Y — bsin
a2 23 23 [using (I)J
or, bycos
or, ax sin
or, ax sec
Let (h, k) be the centre of curvature of (1). Then we know that Now equ
Next we fin
yt(l+yf) Different
y2a4+ x2b4
a2ya ax sece
y b2x2 2
Therefor
b2 a4 a2 a
4

Hence, s
= % (a2 —b2) [Using (I)J
a
 3
and k = y +

From (2) we have

ah
3 (ah)a x2
a

(bk)3 2
Similarly, from (3),

Addingwe get
2 2 2
Y = (a2— b2)3 [Using
x +—
(ah)} + (bk)3 = (a2— b2)3
a b2
Hence the equation of the locus of (h, k) i.e., the equation of evolute is
(ax)3 = (a 2 — b 2 ) 3 .

Alternative Method
x = acosO
The parametric equations of the ellipse are Y= bsin0
We first find the equation of the normal at Oof the ellipse.
dx dy
Differentiating (1) with respect to e, we get = —asine and de
= b cose

dx ¯ h _ —asine
Now — dy de ¯ bcose
Therefore normal at 'C, to the curve (1) is
a sin O
Y —bsin9 = + (x —acos0)
b cos 9
or, bycose b2sin0 cose = axsine —a2sin0 cose
2
or, axsin9 —bycose = (a2 b ) sine cose
2 ...(2)
or, axsece —bycosece = (a2 —b )
'9' is the parameter.
Now equation (2) is the family of normals of the given ellipse, where
Next we find the envelope of (2), which will be the evolute of the ellipse.
Differentiating (2) with respect to 9, we get,
axsine by cos 9 by
ax sece tano + bycosece cote = 0 or, or, tan 3 e =
cos 9 sin 9
(by)1/3
Therefore, tano =
(ax)1/3
(by)l/3 (ax)1/3
Hence, sine = , cose =
(ax)2/3 + (by)2/3 (ax) 2 / 3 + (by) 2 / 3
10 Fundamental En ineerin Mathematics
Putting these in (2), we get

a.v• (ax)2/3 + (by)2/3 (ax)2/J

—(ax)l

or, •-[(ax)2/9 (ax)2/3 = (a

or, + = (a2 —
b2)2
or, + (by)2/3I3 = (a2
or, (ax)2TJ+ (by)YJ = (a2 b2)2TJ

which is the required evolute of the ellipse —

Find the evolute of the curve =a .

Solution Here the given equation of rectangular hyperbola in parametric form is
x = at

Let (h, k) be a variable point on the evolute of the rectangular hyperbola (I).
Then we know that,

¯dt
h = x(t) I— (2)
dt dt2 dt2 dt

dt "dt dt
and k = y(t) +
dt dt2 dt2 dt
Now from (1) we have,
dy
x —O,— and
d2y 2a
dt dt2 dt dt2
Then we have,
dx 2 dy
dt dt
dx d2y d xdy 2 2a2
and —
dt dt2 dt2 dt
Using (4) and (5) in (2) and (3) we respectively have,

h = at +
2t3

gat a
2 '2t3
 Evolute and Involute 11
and k =

2
From (6) and (7) we have
3at a

gat a 3a a
Again, h
2 2t3

Now to eliminate the parameter t from (8) and (9), we have

(h+k) 3 = = (4a)a

Hence the locus of the variable point (h, k) is

— (4a)å
which is the equation of the required evolute of the rectangular hyperbola x = at, Y =
Alternative Method
Here equation of the curve is xy = a
Now differentiating with respect to x, we get
dy
x— + y = 0 giving —
dy
dx x
Again differentiating with respect to x, we have,
dy
(3)
[using (2)1

Let (i, S') be the centre of curvature at (x,y) on the curve (1), then we have,

Yl(l + Y! ) (x2 + "2)

Y2

and y
 12 | Fundamental Engineering Mathematics
Now + S' = x + y + (x2 + y2) 2y
2

i.e., (i+j)å

Also, — = (x —y) + (x2 + "2) —

[using (1))

(5)
I.e., (i--y)å

Now squaring and adding (4) and (5) we have,

a (x+Y)2-(x-y)2 4xy 23 .a 2

i.e., (i +5)3 = (4a)3

equation of the required
So the equation of the locus of centre of curvature i.e., the
evolute is

Find the evolute of the rectangular hyperbola x2 —Y2 = a .

2
Solution Here the given hyperbola is x2 —Y2 = a
Let (Xl,"1) be an arbitrary point of the hyperbola (1) and (h, k) be a variable point on
the required evolute. Then we know that

(2)

where —
Now differentiating (1) with respect to x, we have
dy
2r —2y— = O giving —
 Evolute and Involute 13
Also

dy
Thus and

d2y
[From (4))
Using above results in (2) and (3) we have,

a 2 +XI + Yl
2 -Yl + x ? + Y?) [Using (4))

2xt

(5)

Also k = Yl + yt(Xl+ 2

[Using (4))

i.e., Yl = (6)

Now squaring (5) and (6) and then subtracting we have,

a2k

i.e., = a2 [From
23

i.e., ha —k3 = (2a)3

Thus the locus of the point (h, k) is given by
x3 —y3 = (2a)3 , which is the equation of required evolute to the given curve.

Find the evolute of the astroid x2/3 + =a .

Solution Here the parametric equation of the given astroid is
x = a cos3 0
Y = a sin 9
 14 Fundamental EngineeringMathematics
Let (h, k) be a variable point on the evolute of the astroid (1). Then we know that,
-dy)2

h = x(O) — ('2)
do d02 do

do do
d2y.
do d02 d02
Now from (1) we have,
d2x
— = —3a cos29 sine, = —3a cos 30 —3a sin0(— 2cose sine)
de
= —(3a cos30 —6a cose sin 20)
dy
= 3a sin 29 cose
de
and = —3a sin 30 + 3a cos9(2sinOcos9) = 6a sino cos20 —3a sin 30.
So we have,
dx dy 2
—9a 2 cos20 sin 29(cos29 + sin 20) = 9a2 cos20 sin 0
dO dO
2 2
and — d y d x dy
dO €192 (102 dO
= (—3a cos20 sino cos29 —3a sin 30) + (3a cos30 —6a cos0 sin 20)(3a sin 20 cos0)
= 9a 2 cos 20 sin 29(Fin 2e —2cos 29) + 9a 2 sin 20 cos 20(cos 20 —2 sin 29)
—9a 2 sin 2e cos 29(sin 20 —2cos 29 + cos 20 —2sin 20)
= —3a2 sin 20 cos2e

dO do 9a cos O—sin O
Thus,
—9" cos 0 —sin O
dO d02 d02
Using above result in (2) and (3) we have,
dy
CIO de
= a cosse + 3a sin 29 cose
and k = y(O) + — (—1)= x(9) — —
CIO de
2
= a sin ge + 3a cos 9 sine
Doing (4) + (5) and (4) —(5) successively we have,
2 g 2
h + k = a(cos 3e + 3sin e cose + sin e + 3cos e sin0)
= a(cos0 + sin

and h —k = a(cos 39 + 3 sin 2e cose —sin 39 —3cos 20 sin 0)

= a(cos9 — sin9) 3
 Evolute and Involute | 15
To eliminate the parameter O, wc have from (6) and (7)
(h + = aa [(cosO + 8inO)2 + (COHO
—ginO)2)
= a a ((2(c0820 + sin 20)) = a:'
Hence the locus of the point (h, k) is
(X+ -- = 2aa
which is the required evolute to the given astroid x = a cosao,y = a sin O.
Alternative Method-I
O
The parametric equations of the astroid xvg + y2TJ= a2TJare x=acos
y = agin O
We first find the normal of (1) at '0'
Differentiating (1) with respect to 'O'
dy
= —3acos O Sino, = 3a sin O COBO
—3acos OsinO
Now, = coto
dy 3asin OcosO

Therefore the normal at '(Yis y asin 30 = —

cos O
(x —a cog30)
sino
4
or, xcosO ysinO = a(cos 0 —sin40)
or, xcos0 ysinO = acos20
Now (2) is the family of normals of the given astroid, where O is the parameter.
Next we find the envelope of (2), which will be the evolute of the astroiu.
Differentiating (2) partially with respect to O,wc get,
xsinO ycosO = —2asin20
or, xsinO + ycos0 = 2asin20 ...(3)
or, xsin0 + ycosO —2asin20 = ()
(2) can be written as xcosO -eysinO —acos20 = 0
Solving we get,
1
x
acos20sinO—2asin 20cosO —sin O—cog O
—acosOcos20—2asin08in20
Hence, x = acosO cos20 + 2a sine sin 20
acosO + asin0 sin20
= a(cos0 cos20 + sino sin 20) + asin0 sin20 =
and y = 2asin20 cosO acos20 Sino
sin0) = asin20 cose + asin0
= asin20 cosO+ a(sin20 cos0 —cos20
From (4) and (5) we have,
y = a(sin0 + cosO) + asin20(sin0 + cosO)= a(sin0 + cos0)(1 + sin20)
x+
= a(sin0 + cos0)3
16 | Fundamental EngineeringMathematics
x —y = a(cose sine) asin 20(cose—sine)
3
= a(cose — —sin 29) = a(cose sin9)
Now (x + y) 2'3 + (x —y) 20
= a231(sine+ cos9)2 + (cose -- sine)21 = + cos20)) = 2a
'
or, (x + ") 23 + (x —y)2J3= 2a
which is the required evolute of the given astroid.
Method-2
u Alternative
The equation of the given astroid is

Differentiating (1) with respect to x we have,

2 -1 2 -l dy = 0 givingyr =

Again differentiating (2) with respect to x we get,

Y2 =

[using (2))

Let (i, j) be the centre of curvature, then we know that

-x +3.y3
Y2

and =y +
Y2

x3.y3

Now, + ¯ x3 + "3

Therefore, (E + =
 Evolute and Involute 17
2 1 2
Similarly (i =
Adding (3) and (4) we get,
+ - -'2 xa +ya ='2aa
So the equation ofthe locus of( i, ) i.e., the equation ofthe evoluteis (x+Y)3 + (x = 2a3 .
Show that the locus of centres of curvature at points of the cycloid
x = a(t —sin t), y = a(l —cos t) is an equal cycloid x = a(t + sin t),
y =— —cos t).
Solution Here the equation of the given cycloidis
x = a(t sin t)
y = —cos t)
Now, if centre of curvature of the cycloid(1) is at (h, k), then we know that,
dy dx 2 dy 2
dt dt dt
h = x(t) 2 2
dx d y d x dy
dt dt 2 dt 2 dt
2
dx dx 2 dy
dt dt dt (3)
and k = y(t) +
dx d 2y d 2x dy
dt dt2 dt2 dt
Now from (1) we have,
dy
= a(l —cos t) and dt = a sin t.
dt
d2x d2y = a cos t.
Also, = a sin t and
dt2 dt2
So we have,
2 2
+ a2 sin 2 t = a 2(2 —2 cos t) = '2a (1 —cos t)
2
dx dy = a 2 (1 —cos
dt dt
dx d 2y d 2x dy = a(l cos t) a cos t —(a sin t)(a sin t)
And
dt dt2 dt2 dt (4)
= a cos t -- a2(cos2t + sin2t) = a2(cos t —1)

2a 2 (1 —cos t)
a 2 (cost —1)
dt dt2 dt2 dt
(SEM-1)—2
Fundamental Engineering Mathematics
 18 | Fundamental Engineering Mathematics
Using these results we have from (2) and (3)
h = x(t) dy
dt
= a(t —sin t) + 2(a sin t) [From (1))
= a(t + sin t)
and k = y(t) + dx
dt
= a(l —cost) —2a(1 —cost) [From (1))
= —a(l —cost)
Hence the locus of the point (h, k) is
x = a(t + sint), y = —a(l —cost)
which is the required equation of the locus of the centre of the curvature of the cycloid
x = a(t + sin t), y = a(l —cost).
Notes
1. Clearly the locus of the centre of the curvature to the given cycloid is the same with
the original one, with only difference in orientation.
2. It should always be remembered that locus of the centre of curvature is nothing but
the evolute.

Show that the evolute of the tractrix x = a(cost + log tan —),y = a sin t
is the catenary y = a cosh
Solution Here the equationof the tractrix in parametric form is given by
x = a(cost + log tan —)
Y = asint 2}
If (h, k) be any point on the evolute of the tractrix (1) then we know that
2 2
dt dt dt
h = x(t) — 2
dt dt2 dt2 dt
2

k = y(t) +

Now differentiatingthe curves of (1) with respect to t twice successivelywe have,

dx 1 sec 2
= a —sint+— = a —sint+— = a(cosect —sint)
dt 2 tank
dy
= acost
dt
d2x
Evolute and Involute 19
= cost cosect cott) =
a(cost + cosect cott)
d2y = asint
dt2
dx 2 dy 2
Thus,
dt dt
= a2 + a2cos2t
= a2(cosec2t —2) + a2(sin2t
+ cos2t)
= a 2(cosec2t 1) = a 2 cot2
t.
dx d 2y d 2x dy
Also, —
dt dt 2 dt 2 dt
= + cosect)(—asint) + a(cost
+ cosect cott) (acost)
= a sin t —a + a cos t + a2cot2t
= a cot2t

Therefore, a cot2 t
db a2 cot2 t
dt dt dt2 dt
Using above results in (2) and (3) we have,
h = x(t) — (1) = x(t) — dy
dt dt
= a(cos t + log tan —) —acos t = alog tan
2
dx dx a
and k = y(t) + dt = asint + a —sint + —1
dt sint
k 1+ tan 2 L
i.e., h [since h = a log tan—
a 2 tan g2 2ea
—h h
= cosh
2 a
h
i.e., k = a cosh a
Hence the locus of (h, k) is
y = a cosh which is the required equation of the evolute to the given tractrix.
a [Proved]

Find the equation of evolute of the curve x +6' .

Solution Here the given curve is

 dx cos4 0
si]
20 Fundamenta/ Engineering Mathematics
of (1)
To find the evolute of the curve (I), we first find the equivalent parametric form 4asinO
which is —asin e +
x = a cos40 asin e + 2acos20(
y = a sin4e and (6) w
Let (h, k) be variable point on the evolute to the
curve (I). Then we know that, adding (5)

de de,' 3a(cos40 + sin40)

(3)
h = x(O) — subtracting (6) froł
d2y •n
de d02 d02 dO
k a(cos40 —sin40) -
z: a(cos20 —
sin20) -
and k = y(O) +
(cos 0 — sin 20)
d2 -sex 2
y
de de2 d02 de
Now from (2) we have, - k) = (cos20 -
dx
= 4acos30(—sine) = —4asine cos30 3(h —k) = cos 20
de ig., 3a-2h-'2k
dy
— = 4asin 30(cosO)= 4asin 3e cose from (7) we have
de Again,
d2x
— sinO)} + cos401 = 4a[3sin20 cos20 —cos401 li+ k (cos20)2 + (sin 2e,
d02 3a
2 2 4 + k) = 6a(cos40
and d2y = sinO) + cosO(3 sin 20)cosOl = 4a[3sin e cos 0 —sin 01
d02 i.e.,
dy 2
i.e.,2h + '2k - 3a =
2
cos 20(cos 40 + sin 40)
Thus, = (—4a sinecos 30) 2 + (4asin 30 cosO)2 = 16a 2 sin 20

—3a)3 2
Also,
d-t d 23' d 2x dy i.e., (2h + 2k
of (h,
d9 d02 •de2 Hence the locus
= (—4asinO cos 20 — sin 40)) — 4a(3sin 20 cos 20 — sin 30 cosO) 3 = '27a(a
2 2 2 2
whichis the equation
3
= 16a 2sin 0 cos 0 + sin 0 — 3 sin 0 + cos 0)

— 32a 2sin 30cos 3e Alternative Method

16a sin Ocos O(cos4 0+sin O) Here the equation of t}
Therefore, Differentiating (1) wit}
—32a sin Ocos O
de de2 d02 do dy
1 1
(cos 4 0 + sin O)
sin 20
so, from (3) and (4) we have, dy
i.e., Yl =
dy cos4 0+sin O
h = x(O)— Again, differentiating
sin 20
cos 0+sin O
= acos 40 + 4asin 30 coso d2y
2sin e cos O
dx2
= acos 40 + 2asin 20(cos 40 + sin 40)
 Evolute and Involute 21
and k = + dx con 0 0
dO Nin 20

asin O + 'la BinO 0

2 Bin O
= asin40 + 2aC0820(COB40 + Hind())
Now adding (5) and (6) we have,
h + k = a(cosdO+ 8in40)+ 2a(c0840+ + COB20)
= 3a(cos40 + sind())
Again subtracting (6) from (5) we have,
h k = a(cos40 BindO)+ + cos20)
= a(cos20 -- sin20) -- 2a(c0820 + BindO)
= (cos O sin O) a—2a [From
2
i.e., 3(h -- k) = (cos 0 2(h + k))
i.e., 3a-2h-2k = cos 20
Again, from (7) we have,
= (cos20)2 + (sin 20)2 = (cos20 + sin 20)2 -- 2cos20 sin 20

i.e., 2(h + k) = 6a(cos4Ø+ sin40)

i.e., 2(h + k) = + sin20)2+ (cos20 sin20)2)= 3a(1 + cos2 20)
3(h-k)
i.e., 2h + 2k - 3a = 3a [From (8)1
3a-2h-2k
i.e., (2h + 2k -3a) 3 = 27a(h —
Hence the locus of (h, k) is given by
3 = 27a(x —
=
which is the equation of required evolute to the given curve TX+6'
Alternative Method
Here the equation of the given curve is ex =
Differentiating (1) with respect to x we have,
1

i.e., Yl =
have,
Again, differentiating (2) with respect to x, we

d2y
dx2 x
 22 Fundamental Engineering Mathematics
Let (i, S') be tho contro of curvature, then wc know that

2 y(x+Y)
Y2 a

+ 1+Yl '26(X+ )
and
Y2 a

Adding and subtracting (3) and (4) wc have,

+ = 3(x + Y)

and = (x —Y)—

-2x- '2y)2 [Using (1))

9a 9a

6a-2i-2Y ('2i+2Y-3a) 2 3a -e6a + 2.i + 29 + - 3a) 2

3 3 9a

27a
i.e., 27a(i -e S' = (2i + 2 S' —3a)3
Hence the equation of the locus of (i, S') i.e., the equation of the evolute is
27a(x -y) 2 = (2t + 2y - 30 3.

Show that the evolute of the parametric curve x = a(cos t + t sin t),
y = a(sin t —t cos t) is the circle x2 + = a 2
Solution Here the given curve in parametric form is .
x = a(cost + t sin t)
y = a(sin t —t cos t)
Let (h, k) be a variable point on the evolute of the curve (1). Then we know that,
2 2
dy dx dy
dt dt dt
h = x(t) —
dx d 2y d 2x
dt dt2 dt2 dt
dx dx 2 dy 2
dt dt dt
and k = y(t) +
dr d2y d 2x dy
dt dt2 dt2 dt
 Nowfrom(l) wohavo, Evolute and Involute | 23
Hint t coøt 4 hint)
at cont
-t- a(cont t "int
dt cogt) at nint
at(—Hint) acont
a(coøt —t "int)
nnd a(t cont + Hint)

(at con (at nin •a a 2t z

nnd d 2x dy
dt
at COBt(a(t cont + "int)) --
a(cogt tnint) (at "int)
a 2t(t cog2t + Hint cont
Bint cont + t gin2t) a 2t 2.

Thcrcforc, 22
del y-da dy ai l
thing abovc rcgultH, wo hovc from (2) and (3),
h x(t) xI a(cogt + t Hint) at "int a cont (4)
dt
and k y(t) + dx x 1 a(Hint t COHt)
dt at COHt a Bint
Eliminating the parnmctcr t from (4) and (5) wc have,

Ilcncc the locug of thc point (h, k) is

x2 + y = a2, which iB the rcquircd cvolutc to the given curvc x a(cogt + t Hint),
y a(Bint t cogt). IProvcdJ
Alternative Method
Given equation of the curve in paramctric form given by iB
x a(COBt + t Bin t), y = a(Bin t —t COB
t)
Differentiating (1) with regpcct to t, wc have,
dx
— t
at COB
Bin t + Bin t + t cos t)
dt
dy = a(C08t cog t + t Bin t) = a t Bin t
dt
d = tan t
Therefore Yl = dxy = tan t.
dt
dt t BCCt
Now = d2y BCCt. dx at cost at
 24 | Fundamental Engineering Mathematics
LOC(i, j) bo tho contro (iCtho of' wo know

a(coti t + t Nin t)

a(cotit + t "in t) at Bint •a cotit

and a(tiin t —t cotit)
a(Hin t —t cotit) + at cotil t
—a Bin t
Now eliminating t wo havo,
2
2
So the equation of tho locuti of (i, S;) iti xa y? —a ,
which is tho required cqunCionof tho ovoluto.
10. Find the equation of tho evolute of tho curve x a y b "inj.().

Solution Here tho given curvo in parametric form i" given by t

X a COßhO
y b BinhO
If (h, k) bo a variable point on Choovoluto of (1), thon wc know that,
2

h x(O) —

and k = y(O) + (3)

d2 y- —d ux dy

From (1) we have,

dx dy = bC08hO, d2x
a sinhO, — acoHh() and , bHinh0
CIO d02 (102
= a 2 8inh 2 0 + b2 c08h20

2 2
and dx d y d x dy = BinhO) coshO) = — COHh2 ())
do (102do
= 20
ab, [BinccCOBh Binh20 Il
Using (4) and (5) in (2) and (3) respectively we have,

h = a coshO—b cogh
O(a 2 Binh 2 0 + b 2 cosh 2 0)
—ab
i.e., ah = a2 coshO + a2 sinh 20 COBhO + b2 cosh30 = (a2 + b2) coshj () (6)
 Evolute and Involute | 25
sinh0 + a Sinh O(a2 sinh 2 0 + b2 cosh 2 0)
and k = b —ab
bk = b2 sinhO a2 sinh20 b2 cosh20 sinh0 = —(a2 + b2) sinh30
i.e.,
Eliminating O between (6) and (7) we have,
— b2)3 , since cosh20
(ah)s —(bk)3 -- sin20 = 1
Hence the equation of required evolute (i.e., the locus of the point (h, k) is)

a 3x 3 —b
y3

11. Find the involutes of a circle a-2+ Y2= a2.

solution Here the given equation of the circle is
2

Clearly the parametric form of the circle (1) is x = acos0, y = asin0.

If (h, k) be a variable point on the involutes of (1), then we know that,
+ (10

and k = y(9) — d0

where b is a constant.
Sincex = a cose, y = a sine then,
dy
dx = asin0 and = acos0.
CIO

2 2
dx dy 2
So de
de = de = ace -b)
Now

Thus from (2) and (3) we have,

a sin la(0 b))
h = acose + a
= alcos9 + e sino —b sin01
a cos 0 la(0
and k = asin9 — b))
a
the equation of the involutes of the circle
point (h, k) iæ.,
Therefore the locus of the
are
x2 + Y2= a2 in parametric form
sinOl
x = alcose + Osine b
+ bcos01j
y = atsin0 O cose
where b is a constant.
26 | Fundamental EngineeringMathematics
In particular if b = O, then equation of one involute is
x = a(cosO+ e sino)
y = a(sinO —O coso)

12. Find the involutes of the parabola x at2, y 2at.

Solution Here the given parabola in parametric form is :
x = at 2, y = 2nt
(1). Then we know that,
Let (h, k) be a variable point on the involutes of the parabola
h = x(t) — dt

k = y(t) —

Since x = at 2, y = 2at, then we have,

— = 2at and —

Therefore, = 4a2(1 + t2)

Also, (%j+

= + sinh-l t — —
Thus we have from (3) and (4)
2at + sinh-l t — —
2a 1+t2
atsinh-l t at
+ sinh¯l(b))
Vl+t
atsinh-l t at

and k = 2at —
2a 1+t2
asinh-l t + sinh-l (b))
= 2at —at —

a sinh-l t
 Evolute and Involute | 27
Thus the locus of (h, k) i.e., the equation of the involutes of the given parabola (at2, 2at) are
at sinh-l t
(b JEF + sinh-l (b))
asinh-l t
and y = at — + sinh-l (b)).
whereb is a constant.
In particular if b = 0, then the equation of one involute of the parabola x = at2,y = '2at is
at sinh-l t asinh -i t

13. Show that the involute of the catenary (t, cosh t) is the tractrix
(t tanh t, sech t).
Solution Here the parametric form of the given catenary is
(1)
x t, y = cosh t that,
Let (h, k) be a variable point on the involutes of the catenary (1). Then we know
2
t dx dy
h = x(t) —
dt

2
dx dy
and k = y(t) — 2 b dt dt
(dt dt
where b is a constant
dy = sinht
dx = 1 and —
Now from (1) we have, —
dt dt
2 2
Then
dx dy = 1 + sinh 2t = cosh2t.
dt dt
So from (2) and (3) we have respectively,
1 s t cosh t dt
cosht b
t
=t secht[sinhtlb
= t —tanht + sech t Sinh b
sinht t t
and k = cosht — cosht Jbcosht
dt
t
= cosht —tanht [sinhtl b
sinh2t + tanht Sinh b
= cosht — cosh t
1 sinht
(cosh2t —sinh2t) + tanht
+ tanht Sinh b [Since cosh2t —sinh2t = Il
= secht
_88_1 Fundamental EngineeringMathematics
Thus the locus of (h, k) i.e., the equation of involutes to the given catenury in parametric
form are
tanh t + sech t Sinh b
and y sech t + tanh t Sinhb, wherob is a constant.
In particular for b 0, the equation of an involute to the catenary (t, cosh t) is
x a t tanh t, y = sech t, can be represented in parametric form as
(t tanh t, sech t), which represents a tractrix. [Proved)
14. Find the equation of involutes of the semi-cubic parabola x
Solution Here the equation of tho semi-cubicparabola is given by

Let (h, k) be a variable point on the involutes of the semi-cubicparabola (I). Then we
know that,
h = x(t) — (2)
b
dx)2+ % 2 dt

and k = y(t) (3)

dt

where b is a constant.
Now from (1) we have,
— = t2 and
dt
dy = t4 + t2 = t 2(1 + t 2)
Then
dt dt

(92
So from (2) and (3) we respectively have,

2 du [Putting u + t 21

t+t2
 Evolute and Involute 29
1+t2 1+t2
3 3 1+t 2 (1+b2)!

t3 t(l+b

and k = T

[From the above result)

1 + b2 2 1+b2 2
3 1+t 2
Thus the locus of (h, k) i.e., the equation of the
involutes of the given curve are
t (1 + b2 ) 2

where b is a constant.
In particular forb = () we have, equation of one particular involute is
and y =

15. Find the involutes of the astroid xa +y3 = .

Solution Here the given astroid is :
...(1)
3 3
The parametric equation of the astroid (1) can be taken as : x = a cos 0, y = a sin 0
where9 is a parameter.
that
Let (h, k) be any point on the involutes of the curve (1). Then we know
do
dy

75
 30 Fundamental EngineeringMathematics
Since x = a cos39, y = a sin39 then,
dx dy
= —3a sine cos29 and — = 3asin29 cos9.
de de
dx 2 dy 2
Thus = 9a2sin 2ecos 20(sin 2e + cos 20)
dO
2
= 9a 2 sin 20 cos 0
2
dy 3
i.e., = 3a sine cose = —a sin29.
de 2
So from (2) and (3) we have respectively,
h = a cose + 3asin ecos3e —a
3 sin 20 (19
3asinOcos9 Jh 2

= a cos e + cose —2a cos 20 = a cos 0 4

2
b

= a cos O— 3a
cosO(2a cos20 —e1) + —cose cos 2b
4
3a 3a
4
cose — cos e + —cose cos 2b (4)
4

and k = a singe — 3asin Ocose sin 20 (10

3asinOcose "b 2
= a sinO + 3a sin e [cos 20]! [From the previous result)
4
3a
= a sin O + 3a sin e (1 —2 sin29) — —sine cos 2b
4 4
3a 3a
sine -- g sin39 — —sine cos2b.
4 2 4
Hence the parametric form of the required involutes are
3a cose cos2b
x = —cose ——cos39 + —
4 4
3a
and y = —sine g sin 3a
ge ——sine cos 2b, where b is a constant.
4 4 2
In particular if b = 4 , then one particular involute is
3a
x = —cose —g 0 39
4
sino — —sin e.
4 2

16. Show that the involutes of the rectangular hyperbola x = c coshO,

y = c sinhO are x = c coshO — c Sinh O
B(O,b) and y = c sinhO — c cosh O
cosh 20 cosh 20
cosh20 do, b is a constant.

Solution Here the equation of the given rectangular hyperbola is

x = c cosh9,y = c sinh9,
9 being a parameter.