pe EB eee e aS Rer’= v(ct + kb) J.L. Bansal P.R. SharmaM.Sc previous paper 4th unit Ist start here 2 Curves in Space 4 fntroduction OA asieec Geometry is that treated with the help of Differential Cateut curves and surfaces in space. Since the geo surfaces varies continuously, it may be st branch of Geometry which is us} In this branch, we study the metric character of the curves and tudied with the help of Differential calculus. There are two branches of Differential Geometry viz, Local Differential Geometry and Global Differential Geometry : (i) in Local Differential Geometry we’study the properties of the curves and surfaces in an arbitrary small neighbourhood of a point, and (ii) in Global Differential Geometry we study the properties of the curves and sur- faces as a whole and it is, therefore, also known as Macroscopic Diffe- rential Geometry. Since we want to study the behaviour of curves and surfaces from point to point, in Differential Geometry, we mainly study the Local os Geometry of curves and surfaces. 0 Space curves When every part of a curve in space is confined to a plane, itis called a plane curve (e.g. conic sections). But if every part of a curve in space is not confined to a plane, it is called skew or twisted or tortuous or curve of double curvature or curve of torsion or curve of flexion (eg. helix). We can represent a space curve in the following ways : (1) intersection of two surfaces : ‘The equations A y2D=0, fils, y,z)=0, 2.2.1)24) (Different ial Go ‘OM, eh together represent the curve of intersection of the sur ’ See ‘tees yi fils ys 2) =O and f(A, ys 2) = 0. I we eliminate first e, and then hk the two equations, ively, we obtain equations of the form "ete JEN), X= f(z), ewe, now regard za function of say z meter), the equations (2.2.2) take the form YEW, YEW (0, = ya() (His called Re a Ze Wy (LF or simply wo _ sexs ye90, 2a This shows tha the eoordinae ct ay point on the curve of j= section of the surface can be expressed as functions ofa single parameter’ ___ For example, we know that if f(x, y,2) = O represents a sphere FA+,y, 2) = O represents a plane, then these two equations together represa’ a circle which is the section of the ei : i the th | case he curve isa plone yo even sphere by the given plane, np 2 a arametric Tepresentation : If the coordinates of a equations of the form t X=x), yy sy z=!) wu where x(0), »(), (0) are real atu functions of a single parameter ie is curve of intersection of two surfaces. The equations in (2.2.4) are calleg Parametric equations of the space curve. Thus we can say that.a Curve in space is the locus of a point whose cartesian coordinates are functions of a single variable t, say and the elimination of 1 gives, the following two equations point on a space curve be represented by the o1(x, y) =0, 20, 2) = 05 ++e(2.2.5) which represent two cylinders whose curve of intersection is the locus of the point. Fy Ex. : Let the parametric equation of a spice curve be xenyetz2a8, s++e(2.2,6) On climination of f from the above three equations, we get the following two equations : Yey Yaz, eo(2.2.7) which may be written as Fi, y)=0, Fy =(y,2)=0 (2.2.8) ‘Thus the space curve, whose parametric equations are given, cah be > expressed as the inter-section of two surfaces given in (2.2.8). Vector representation of a space curve : Def.: A curve in space or a space curve is the locus ol a point whose position vector r with respect to a fixed origin| sn Space } in SP yes [25 i «represented asa fy a! represented as Netion of a single parameter fy say. is ie my rene exis the position vector of ey (2.2.9) her” Let r be the position Vector of g Current point on the curve. sartesian Coordinates be yy. 4 ee UTTeMt point P on the space curve we PUES NT then we know that A ALA Vtyptczk eo(2.2.10) = AL Ges or om r=, eas (ox xt,y = y(t, 22209) 7 FE = Lx), 910), 28) "2M {/)is a vector valued function of a engin 2. ube Note: (i) A parametric repre, ele atiblet Wie represematic 5 Hation of a curve give: e eeseiotion of the curve also. The positiy, of aleve gives the sease me cu ¢ direction of the descriptic { Hd ‘ i scription of mec is shat in w hich the parameter "increases and the opposite direc- ge negative direction, ? ton” (ji) An important curve is a helix ometvic equations are my X= A080, y=asing, “nit tangent vector of a curve U— CS Let P soe ne pee neighbouring Points on a curve whose position feare ran + Tespectively referred to the origi ect % the origin O. Hence > 3 PQ =00-OP=r+8r-r= or. on(2.3.1) Let &s be length of are PO measured along the curve and arc AP = sjsmessured from any convenient fixed point A on the curve. Now unit vector along chord PQ PO aoe IPQ\ °. __or “chord PQ * =f. ac PO PO" Ad? Pose) vn(23.2) Soe Fig. 24 Now when point Q—P, the chord PQ tends to the tangent PT at P. Hence unit vector along the tangent at P “Lim 8r_arc PQ = 0-P 8s chord PO dr Lim _arc PQ _ ) Grr (since OoPcodPon!) 233) [See Ex. 1, Exercise 1.1} whose 3 T+ Q(x+8x, y+3y, 2+62) Naresh ji Sir 9461843568(Wwhatsapp2%) | Dilferentiat «, eo, 4 Thus we conehide that Fis parallel to the angent fing Pr ~ “red Mt dened hy and is taken positive in the dinection oF inerensing jg, 4 P A Nae Sy W re(y je rexbayg tek, Where xy, © ane cartesian coordinates of P. wer 7 aA dyh & Peratra ts Spek el dd a 4) A A Since the magnitude of ¢ is unity, thet fore - ayG) Ba) (i) (a) Ga) as 2 2 aby _ (yy ”) +($) J) or ay *Mar dt dt as ja ; Fk 2424 Z2=/F] or lel, aa or eh ee aly 2 (2.3.5) where dot denotes differentiation with respect to parameter‘. The formula (2.3.5) may be used to find the length of an are, Thu, i the length of the are AP =, is given by by ys flfldr 4 tn dy? , (ay 2 ayy? 7 J { 9) +) a dt (2.3.6) n Note : When we say that P and Q on a curve'are neighbouring points, we do not mean that the points are near is space but their values of the parameter differ by an indefinitely small amount. Sometimes, the term consecytive points is also used for such points. Uy The Tangent Line LA Def. : The tangent line to a curve at a point P of the curve is defined as the limiting position of a straight line through the point P and a neigh- bouring point, P; on the curve as P, tends to P along the curve. s Fig. 2.2cos in Space ] (27 Let r= r(1) be the ‘ Parametric equiati p Hen it whose pos Tle equation of a curve and P be any sition vy i ‘ on Vector is rand a unit tangent vector at P be de a wit t, where . i shade, ) oer, seea(24.1) Let Q be any point on th ‘ Ne tangent line at P whose position vector is B80) ASO > A 8 => PQ =ct, where c=1 PQ |. But 00 =0> 47 00 =0P+po, or R rect ; or Rerter’, seee(2.4.2) Equation (2.4.2) represents the e If instead of the arcual length s, ._dr. we know that #= 2s also a vector alon ‘quation of tangent line at P. We use any other parameter t, and ig the tangent at P i.e. it is parallel A jounit tangent vector t at P, the equation (2.4.2) may be written as : Rereit snu(24.3) where A is some suitable scalar parameter, Aliter : Suppose that x, y, z are functions of a parameter t. Let Pls, ys2) be any point on the curve and Q(x + 8x, y + By, z + 8z) be a point adjacent to P. The x = x(1) and x+8x =x(t+ 81) = x(t) + bt) + ex +. sx+i8r4¥ 5 Similarly, y +3y =y +814 95> z+8z serie The equations of PQ are given by bok ae Mey hee ay gel gayle. eel. “where €,n, ©) are current coordinates.28) [ Differentigy Seon, i Sty Now as QP, 54-90 and the limiting position of PQis th gent at P which is given by =! an, i 3 ee 24.5, Nence the direction cosines of the tangent are proportiongy lok. : dy a d where k= = ete, : dt ete, \ Ai) Equation of tangent line when the equations op mn curve are given as the intersection of two surfaces ; te Let Fy(x, Ys 2) =O and Fy(x, y, z) = 0 represent the two SUrTaeg whose intersection is the given curve. Regarding x, y, Z as functions oF and differentiating F\(x, y, 2) = 0, we get ' OF dx AF, dy | OF d dx dt * oy dt* a di OFA OFA 8) A A i+ jj +2k)=0, ax bt ay dt On * => VF). =0, where VF; is a vector along the normal to the surface F\(x, y, z) Similarly, VFyi =0. Thus f is perpendicular to both VF; and VF». VF\X VF. Let i =hVE, x VF, where 4 and 1 are scalars, Therefore, the tangent line (2.4.3) is given by R=er+pvF, x VF). Aliter : The equations to the curve are Fi y, 2) =0 and F(x, y, z)=0, where x, y, z are function of a parameter t. Now OF. OF). OF. _ bes ‘ay Jt ae tao Kean (ii) OF,. OF,. aFy, Be tt By Ft Be eeO Hence from (ii) and (iii), soe ea OF OF, OF, OF,” OF AF, OF\OF,” FOF, OF OF, oy dz” az dy Oz Ox dx Oz Ox dy” dy ox BOO a me ae (2.4.9) which are the direction-ratios of the tangent.aves it Space curves #9 Space | Vm Therefore, the equ . ion of uve OF EMEHSCCHION OF the \ AMMEN Tne ALA ploint Cay, 2) on the NWO given 2 Suifaces is obtained as OE OP, “OF OF, = Saale <= SE > eo ie DOF OF OE, ary ar, OF OF, ON MO ede We Oe De as vreetion. (24.10) Direction-co; NES of the fangent Line a Lat POG 3) amd OG 4 54,54 By, « a given curve in rectangular coordina eas ven bY ive! + 82) be adjacent paints on - Sethe measure of chord PQ is > 2 = 5y2 Lets be the length ofthese toe (2.5.1) -point Pon the curve, Wert SF Measured from some fixed pint A to ane thal in which t incr in ume that positive direction of the measure Meme €s and positive direc aa ae peta in which s increases with direction of tangent is taken to nue miessur oF he re PO ofthe curve be Bs then hy (25:1) 5. p= (RY (a)? ey? 9) a) a 9) +) see (2.5.2) Lim Chord P 09? “An PO. = |, therefore by (2.5.2) as QP. “(ay (ey a) *(Z)+(4) =), ay de)? dy? 2 V2 (4) (oY fe * Gi i) +(4) +(¢ eA Ag (where = kit fj ) (2.5.3) Since Hence, © i? = 32 4524.32, dx It where x,y, Z are functions of rand ¢ = 2 di But i, §, 2 are direction-ratios of a tangent linc, therefore the sirection-cosines ofthe tangent line at Pare pang a a 3 por i dbo: wen(2.5.4) de ds dv den obit ai tak The direction-cosines of the tangent line are x’ 2 which are the components of r’ where a prime denotes differentiation with respect to s, Clearly 1” 1= 1,'ie.,r’ is unit vector alonig the tangent, But{ Differential Gegy Metry wy Corol Ac Length of the are of a curve. Letr = ri7) represents CUIVE Cotherefore dy i Sle dt Integrating with respect lof We gel y= fllde integration being carried over suitable limit Corollary 2. Hata point P. r= ), then the tangent line ay Pis led the point Oy” mples ex y point of the curve whose called inflexional tangent and the point Pis Mlustrative Ex(H) show that the tangents at any equations are v=3n inakes a constant angle with the line as =0. wee 7 . M4 ~ {Sol. The direetion-ratios of the tangent at *# to the given curve are - 3, Ot, 6. The direction-ratios of the given line are 1,0, 1. If @ be the angle between the tangent ‘and the given line, then 3x1 +61x0+ 67x 1 “O58 = CSE Toe 362 +361 V1 +04! 1 Gree 2 which is inggpendent of 1, Hence. 0 is constant. 3. Find the feng of one egmnlete | AN r= acostl +asinty +ctk, Sol. The range of parameter / correspon turn of the circular helix oo cts. ding to one complete turn of the helix is oS tS to + 2M. Therefore, the required a L of one complete turn is fot2h [ot2T L= f lilde= J Vesedt fo 0 We P+ c? Seale .curves in Space | {3l EX.3, Find the enpy jo CESS Fin term f Sol. Since, PS Cel cos te! sin te) in the natural form r Therefore, : ' Henee, sint +e! cos fe!) TELS (eeos tet SiN)? (elsin + eFcas.1)?+ 022 = V3 ef ATES from the point 1= 0, we have t [Se d=Ni @ 1, 1 = log (1+ 53), 8 this value of rn the given equation, we have Leerssen Hh Exod. Find the length of the curve given as the intersection of the Measuring the > Substitutin, z surfaces Ry BTN Xeavost (2) from the point (4, 0,0) to the Point (x, y, z), Sol. Parametric equations of the given curve are * =a cosh 1, =bsinht, z=at X =a sinh, 2 beosht, z=a Therefore, and 5 (a sinh f+ (b cosh 1)? + a2 5 (a2 +B) coshtr : Since at the point (a, 0,0): = 0, and at the point (x, y, 2):f we have. dae (+O (sinh f = Va BE sinh 1 . ie (sinks 0 Show that the length of the curve Ww x=2a(sin't+V(1-2), y=2ar, 2= dat between the points where t=, and t= ty is 4V2a(ty ~ 1)). Show also that the curve is a helix drawn on a cylinder whose base is a cycloid making an angle of 45° with the generators. [Udaipur 2000; Raj. 09)[ Differential Ge, 32] I Geometry Sol. Sine, a pn? : dy? _ (& dy ck (4) -(%) i) Gi ‘ we have for the given curve & ntl Vie ah ar ra eT = 1601 2) + 16022 + 1c? = 320° * Hence, Fi = 4V2a. ‘ 2 | + 1607? + 16¢2 ‘Therefore, the required length t th = [oda fold oa Har — ble? which are the required equations of the tangent.[ Differential g., Ml " Feo, Exercise 2.1 1. Define aspace curve and write ils parametric equations, 2, Derive the formula for the length of a curve between (wo Poiniy , r Sin veetor form. : h 4, Pind the length of the circular helix A AA ri)eacosti tasintj tcrk, ~° < fs from (a0, 0) to (a, 0, 2m), Also obtain ils equations in (erm, Fe the are length s. : 4 4. Bind the unit tangent vector tothe circular helix r= (acos t,a sinh bi 0 and write down the ‘equation of tangent at any Point, Also'find the length of one complete turn of the helix. 5. Find the arc length of the curve x= 3cosh2, y=3sink 24 z= 6t,form/=0 to t=n, ® Find the ae ongth asa function of @along the epieycloid x =(a4b) t0s 0 =b cos (“ 6, =(a #6) sin 0 ~b sin (¢ 7 bY 9, 7. For the helix x=a.cos 0, y =a sin 8, z= a0 tan G, prove that ae asec a, and that the length of the curve. measured from the point where 6 =Ois a0 sec ct. 8. Find the équations of the tangent line at the point ¢= I to the curve xelthoy=P, z=148. Contact of a curve and surface IEP, Ph, Ppyouns Pyp Poitits Of a given curve, lie on a given surface and in the limiting case Pj, P3,...P, coincide with P, the curve and surface are said to have contact of n‘™ order at P. To find the cofiditions that a curve and surface have a contact of a given order. [Ajmer 08] Let the equations Of the curve C and surface S be r= (x(0), yO, 20), 2.6.1) and ‘fs 2) = 0, respectively (2.6.2) The values of ¢ corresponding to the points of intersection of the curve C and surface S are the roots of the equation FO flx), YO, 2) = 0. (2.6.3)Curves in Space ] (35 TU is one of the solution of eq o ion (2.6.3) then expanding F(t) about fo by Taylor's theorem in Powers of rea Ne et ame F(t) = Fly) + (t= tg) F(t) 4 Lb? (1st0)" FO) = Ft) 0) Pg) + i a) rm FON) ase Since fg is wwvn(2.6.4) ‘solution of the equation (2 6.3), therefore F (fp) = 0, then we have: (te H wares saa( 2.6.5) (i) AF Po) # 0, then curve C and surface $ are said to have 8 simple intersection at r(é), (i) F(t) = N= (t= tp) Fy 4 tao? Fys(t fo) Ftp) + gy) tact i PONG) ase ti) 9, but F’”(1q) #0, then F() is of second order of Fr 19): fo is a double zero of F(t), the curve C and surface § have two point contact (or contact of first order) at rif.) (Hi) WF) = 0 = Fp), but PF) F(t), the curve C and surface $ have three of second order) at r(fq). (iv) In general, if F(t) = 0 = F%(q) = #0, then the curve C and surface $ are said to ha contact or (n ~ 1)th order) at r(to). Inflexional tangent : Definition : A’ straight line which meets the surface S in three coincident points i.e., it has a second order point of contact is called inflexional tangent to the surface at that point. §2D~ Normal line and Normal plane Definition : (Normal line) Any line perpendicular to the tangent at a point P on a curve is called a normal line at that point. Obviously. in a three dimensional space curve, there will be an infinite number of normal lines. Definition : (Normal plane) The plane passing through a point P on a curve and perpendicular to the tangent at the point P is called the normal plane at the point P. Therefore, the normal plane at a point P on a curve C is the locus of the normal lines to the curve at that point. Equation of the normal plane : «Let r=r(1) be the curve C on which for any point P, whose Position vector is r, Fis a vector along the tangent at P. Hence the equation of the plane through P perpendicular to F is, #0, then ty is triple’ zero of. Point, contaét (or contact = Fit), but FXIp) Wve n-point contact (or| Differentig 36) ferential Geo where R being the position vector of a eutrent point Ray ‘This is the equation of the normal plane to the curve C ap B, Miter ¢ In rectangular coordinate axes, the equation to the y,, plane at a point (x, y, 2) on a curve is -0k4 where i, }, £ are direction-ratios of the tangent al (x ys z ) and dot Uenoie, differentiation with respect to parameter f. Class of a vector valued function : A vector vad funetion r=a(08 +900) + 200K defined on Ureay imterval) is a said to be of elass p, if r has a continuous derivative of py, orderat each point of I. The osculating plane (Jodhpur 2007 Wwe Definition : The osculating plane at a point P Of a ‘curve C of class greater than or equal to two is the limiting position of the plane passing through the tangent line at p and a neighbouring point Q on the curve C as QP. Aliter : If P,@,R be three points on a curve C, the limiting position of the plane PQR, when Q and R tend to P, is called the-osculating plane at the point P. [Jodhpur 2003, eee of the osculating plane : Let _r=r(s) be the given curve C of class greater than or equal to two with respect to parameter s, i.e., the are length. Let P and Q be iwo neighbou- ring points on the curve C with r(so) and r(s) be their position vectors where Sq and s are arc lengths at points P and Q from a point A, respectively. Let R be the position vector of current point T Fig. 23 on the plane containing the tangent line at P and the point Q. Then the 3 A 3 vectors PT = R~r(s9), t= (Sp) and PQ = r(s) ~ F(59) lie in this-plane. Hence their scalar triple product must be zero i.e., [R — r(sp)]- F’(s0) x [r(s) = r(s9)] = 0, sstee(2,861) which is the equation of the plane 7PQ. Now expanding -r(s) in powers of (s— 59) by Taylor's theorem, we have 1(5),= r(s9) + (8 ~So)F’(S0) + (2.8.2)Curves in Space ] Substituting he value of om (2.8.2) in (2.84), we get RHC) Ls — se ee oH) 4, a R-II) stereos order (s~ 59) and higher] =0. no pt “(59) = 0) Therefore, the limiting position of the mane a Curie is IR ~r(s9)}.x'(s, X05) = nee 28 0 provided the vectors r’(59) and ro) artnet vee Equation (2.8.3) can be ‘Written as _ R~4(s9), 259), «%)) = 0, which is the equation of the osculating plane at P. Note : From equation (2.8.4), we observe that the vectors r'(s9) and v'"(s9) lie in the osculating plane and therefore vector ¥'(s0) x £°"(59) is normal to the esculating plane at P, Equation of the oscul: ral parameter ¢ : Let P(t) and Q(t + 82) be two nei; vectors r(f) and r(t + 81) with respect to ori ‘The tangent at these two point: i(f) and £(t + 82), Tespectively. Hence the plane passing throu is perpendicular to the vector FO) x#C+ 8) =H x [ie + 81) -H] 7 ix HE -1001, [8 x4) =0) As OP, 81-30, the osculating plane at P is perpendicular to the vector E(t) x F(). Now if R be the position vector of a current point on the plane, the vector (R — r(#)) lies in the plane. Therefore, R-r(o).HOx# <0, 2.8.4) lating plane in terms of gene- ighbouring points with position igin, respectively, on the curve C. S will be parallel to the vectors igh the tangents at P(0) and Q(e + 1) or IR -r(0), é, 7] = 0, seeo(2.8,5) which is the equation of the osculating plane. Aliter : Since (28.6) wveee(2,8.7)( Differential g, Coy 38] eh substituting (2.8.6 . ; [® “Fy [RnB Fl= 0, bt r= 0). or Remark : Osculating plane is perpendicular to ¢p, By £0 the Ng mal plane. ; i ‘The vector & X F is normal to the osculating plane and F is n plane. But (tx ¥) = Therefore ¥ 1S perpendicular to Gs mh, normal plane is perpendicular to the osculating plane. xy, Equation of the osc to normal Hence th ulating plane in cartesian % ordinates ¢ Let the coordinates of a point P 0 these are functions of a parameter t- Let a&+bn +c6+d=9, be any plane, where a, b,c, dare unknown constants. If this plane has ¢ tact of the second order at (sy, 2) with the curve, then ” ax by teztd=O; act by + 0Z=% ait by+ch=0- , On elimination 4, bo d, WE obtain the required equation to th, osculating plane, as na given curve be (x, y, 2) #2) ay e-x n-y $72 vs(2.8.) which is the equation of the osculating plane at a point PO » Zz). (iv) Osculating plane at a point of inflexion : A point -P where r” = 0 is called a point of inflexion, and th: ne at P is called inflexional tangent. that when the curve is analytic, t of infle tangent li Theorem : To show there exists a definite osculating plane at a poin xion, provided the curve is not a straight line. ; A Proof’: Since r’ = t is a unit tangent vector, therefore r2=1, and differentiating with respect to 5, We get Par 50. cle ag ee eh PO as (2.8.10) Again’ differentiating, we get : rr’ err’ =0 (r” =0, at the point of inflexion) one = 0. we faeaee (2.8.11) This shows that r’ is linearly independent of r’” except when ie r= 0.Curves in Space } 139 Dilferentiating MUECeSsively im times «and applying above argument, we gel rin = 9) ‘ : soe(2812) where 1" (m > 2) is the first no ‘ 10 derivative of v at P. Therefore if #0. from equation (2, 82), we ia tivative of r at P. Therefore il (8) = (sy) =O So)" X18) = r(yq) = mt P50) + Of(s ~syymt) Mae OF the osculating plane at P is R ~ ris9), 45), 20 50) (2.8.13) + Hence the equ: seve 2.8.14) gain if, forall m > 2, the de A 1 Seve allan ve r'")=0, we conclude #” (= ¢) is constant (since the curye is analytic) ie, the tangent vector is same at each point of the curve and hence the curve ig a straight line, Hence the equation (2.8.14) is the equation of the osculating plane a inflexion when the Curve is not a straight line, G8) Osne plane at a Point of the curve of intersection of two surfaces Jodhpur 2003, 07] Let the equations of the surfaces be SE) =0 and o(r)=0, son2.9,1) The equations of the tangent planes of these surfaces are given by (R-r).Vf=0. and (R - r).Vo = 0, wo(2.9,2) where Vf and Vo are normal Vectors to fr) = 0 and $(r) = 0, respectively and R be the position vector of Current point on the plane, Therefore equation of any plane through the ling of intersection of {wo langent planes i.c., plane through the tangent line to the curve of intersection of the two surfaces is R—r)Vf-MR-r).V=0,. (2.9.3) where 2 is a scalar. The plane (2.9.3) will be the osculating plane at P(r) if it has three point contact with the curve, at point P(r). The conditions are - F=0,F=0 md =, (2.9.4) at R= r, where a.dot denotes differentiation with tespect to parameter ‘1, ‘Thus from above conditions at P(r), (2.9.3) gives iV S—At.Vo = 0, EVF-AEVO = 0. (2.9.5) Since # is the tangent vector to the curve and Vf, V6 are normal Vectors, thus we have VS =0, (2.9.6) and 7.V6 =0. ; 2.9.7) Thus we observe tinat the first equation of (2.9.5) is an identity, ‘The second equation givesVi TTL Gg, On, 5 'Y| ih 40] A 4 (dy pitierentiatine + (2.9.6) and (29.7) with sve 101, We have 4 2 EVO + VO) = C avy i =O a ee h + BVO) = 0. woly, 4) seal 2514 Therelores 2.9 9.10) into (2.9.3), we ge Substituting 29,4) f the osculating plane at a Poi hi uation ol of two surfaces. is the required eq p(r) of the curve of intersec Cartesian form : The 0s intersection of the surfaces fen. 0 =0 and G0 = ngent planes 3 al in ction of jane al a point of the curye 9 culating pl Raj. 2002], ae ] The cn to the ta a 2 G- 5+ m-y) ay e- Hg ied Ai and any plane through above tangent planes is ty ¢-a5 nf gngeinnay eu{o- oem) y) Bec a5 ae} se (iv) If this plane is the osculating plane, fed it sould have a contac, nd wat ore at (x, Ys Zs therefore of the seco 5 ) WY (28, dae Sho fy=H aCegesn) see and . asd use ax +3ghe +298) fev Vi) dot denotes differentiation with respect to ‘1’. where a But Hie Zl 0, ae ao,, a eave vil) and Sper gyi 9, =O in (v) is an identity. It is true, since any plane Therefore, equatio 1c has contact of the first order with the curve through the tangent to a curvCurves in Space | {al Now differentiating the equations of (vii), we have +) 4 OSE tot OL (¢ Man), ae = dete ee on +0. and ; at ht wee Koa (: 3. ) sonal lll) Hence eliminating 0 and H from (iv) and (vi), and using (viii), we Lene Lé-0% hs 2 Lay eB) ae ot reel (zg) Led ha2(piekt) eu it) , Mlustrative Examples Ex.1. Find the plane that has three point contact at the origin with the eurve xat-l, yee-] zero. Sol. Equation of any plane through the origin is axtbyeer=0 (1) Equations of the given curve are Ae, yehod z=P=1, (2) Substituting x, y, z from (2) and (1), we get Fi) = a(t 1) + 6081) + (2-1) =0, F(t) = 4a +3 b? +2ct, 12at® + 6br + 2c (3) Since the plane has three point contact with the curve at the origin ( ie, at t= 1, from (3), we get 4a +3b+2c=0 and. 12a+ 6b +2c=0. Solving (4), we get Hence the required plane is 3x - 8) +62 =0. Ex.2. Find the lines that have four point conidict at (0,0, 1) with the surface att Bayz +x? -y? 22 + yz — Bay - 2p 4.225 1 Sol. Any line through (0,0, 1) with direction cosines as J, my, 11 is =t (say). wn 1) Therefor (lt, mt, | + nt) will be any point on (1) Now, F(t) = Art + 3m? (nt + 1) + PP - m2? - (nt + 12 + Qmt(nt + 1) ~ 3m? = 2 mt + Ant + 1 = Naresh ji Sir 9461843568(whatsapp)421 | Differentig « Geog H tty ) maw + ay oF Pay] Bre Slit PP [ficients of, ; Hand ye Q Me a! For the four point contact, the coc szant term should be 7010, fe, c Inn = 0, Pd nd 4 dn = O- and ast be satisfied by the gir, iy rec "On These are Wwo reinilony which mu cosines. hich have four point ¢ p NM Contac ce itl Therefore, the required lines W (0, 0, 1) with the given surface are__—| as that there are QeSdt, 2a 3er+f 2A D =athth, hh the origin and that the poiy My such that the osculating planes ee vous lie in the plane 3cex + afy = 9. [Bikaner 200, AN Sol. Equations of the cubi 4) 19 x= a+b, ye Therefore, ke = 3ar’, j = 6at, n of the osculating p and 1 Mae points on the cubic cr ic are 3cr+3dt, 2=3ertf wily lane at the point tis given by The sista X-(ah+b) Y- Get? +3dt) Z- (ett) 3ar? 6ct+ 3d 3e =0. -... (2) 6at 6c 0 -Sinee the plane passes through.the origin, hence from (2), we get abth 3c +t) 3et, f- a? t+ e =O. (3) at c 0 or. — —ce(at +b) + 3ea(ct+ d+ ned +f) (cat? -2act? — adt)=0 or _acet + fact? + adft + bee = wene(4) Equation (4) is a cubic in ¢ and in general it gives three values oft at which the osculating planes pass through the origin. Also, we have from (1). reattbarh=—? a esesfotachCurves in Space | (43 and er? + dt => dor? or pele Wend seu) Eliminating ei PP trom 7 and (5), we get ave 84 + {oa eden) x a fae { SMD ig LY + bee =0 um Heersanen, Hence proved. rove that the ase wating plane at (xq, 46 24) ont the curve of intersection of the cylinders 2 feee, Pade pis is given by > ty % L yim zz be ee datpur 2 2001, o2 02; Aimer 2000; Bikaner 2005] ) =O and O65, y,)ey242-B2=0, (1) asthe given surfaces, ‘Therefore, which give y iz where &, ¥, 2are assumed to be functions of “a tiation with respect tot. Also, from equations O ind dot represents differen- of) Similarly all second order Partial ines of (x, ¥, 2) can be determined. Therefore, the equation of the osculating plane at (x), yy. 21) is given by [See equation 2xy(x— 44) + 2242-2) = avy) + 2246 zy) 6 Ixj2+ Uz)? 2 ) or or : Hence proved.I Pilferenting ¢, } ay my 4B. Show that at (1 N- ey). point of huterseent Mey oUF the conficals vont eee, Py bebe ae pre? x2 y ape ee and roi prep tcten rve of intersection of. the first two '5 give, plane of the cw axxy(@ +i _ | she osculating a(a? +a) Sol. Let and 60%): oy ‘a ss 2 then Stet! me Be J (4 ‘Therefore, 7 yy a i oe PAb + (C242) mae} * (ation }a at paee ‘a “ol amar} 2x af 2, Of 9- x oe ax a ax? a of 22, PL 20 “ef, & dy? dxdy oydz oe, af ga tt 222. ~ aydz | az? oe (x, y, z) can be determined, given by (v-¥Dy1 1, @-eNe Similarly the partial derivatives of 1, 21) of the first two is The osculating plane at (th gq axe (x- ante y-wpte Te wee hl Fla2 + §21b? + Plc? = Pad+ + B+ A+ 2 c?+)) (6) Substituting z into (6) from (4), we gel ") yPP-@)\ 4 z Hb —a(cr- aba) {a a(e-@) Son) eer Le? th * B+) ion of the three confocals as z1) of intersect Using the point (x1, Y1>Curves in Space | (45 Ris Wb? 4 AYb? +10, (ce? ~ bya? — 2) Ae +10 , = e\(b? ~ 62) eodB) from (7), We get Stay ee aaa =” > ey MEH 5 2 Me Lon ae fh Latte 20, waaay = Since, re a4 a +) as the point (x), 1, 2)) lies of the osculating plane. Exercise 2,2 Determine af, 6 so that the paraboloid 22 = ax? + 2hxy + by’ may have the closest contact at the origin with the curve Y Aa? ~ 28+ Lys, 2= 2-21 + 1, Find also the order of ntact. Brow that the curve x= 1, y=£,2=1 has six point contact with the paraboloid x? + 2? = y at the origi 3. Show that the condition that four consecutive points of a curve should be coplainat is xi sy? zv ME oP yt Le Oe xy 4. Find the inflexional tangents (lines which have three point contact) at (x1, y1, 21) on the surface yz = dax. Ove that if the circle Ux + my +z =0, x? + y? +22 = 2cz has three point contact at the origin with the paraboloid ax? + by?'= 2, thente =e +t. 6; Udatpui O81 : bP + am?’ Al. 06; Udaipur 08) 6. Define an osculating plane at a point of a space curve and determine its equation. What happens to the osculating plane at a point of inflexicn ? 7. Show that the osculating plane at P has in general, three point contact (contact of second order) with the curve at P.46) Pe erehtigd ¢ Gen, Ney, y 3} Find the equation of the osculating plane at any Point “gs helix oy yeacos0, yeasind, = 60, Nhe Ch i 67 Find the equation of the osculating plane ata general cubic curve given by r= (4 2,1), and show that Pointy MIU ANE agg the planes at any three points of the curve mecl al a poing lyin Mai, 8 plane determined by these three points. Bin gt ; . Nh 10, Find the equation of the osculating plane of the curye 4: so Rive, © r=(asint +b cos ta cos t+ b sin f,¢ sin 21), IRaj, 9" by 11. For the curve x= 34, y= 3, 2= 2, show that any plang; 2004) in three points and deduce the equation of the osculating ag it an q A Aen. Cay LP ro are drawn from the point (0, B, Y) to the clip o a? + yb? + 2c? = 1. Find the equation to the osculating Sig ps at (ct, B, ¥) of the cubic curve through the feet of the normals ye ’ Fal. a9 13. Find the equation of the osculating plane at any point of the ci, given by ve x= 4a cos? ®, y= 4a sin’ 6, z= 3c cos 20. , Show that the curve for which b t “e-t js plane curve which lies in the plane ax + by +cz=0. ‘Show that the osculating plane at ¢ = | of the curve C given by xv ae r= Gat, 3bP, ct) is O-4 +07 1. 16. Show that the osculating plane at (x, y, z) on the curve x2 + Jax = y? + by = 2? + 2cz_ is (PLAX —ayx + a) + (2 -@)(Y - y+ bY + (a -b(Z-et+e)=0 Find the osculating plane at a point on the curve of intersection of cH + eby = ew the conicoids fh y, 2) Bax? + by? +c27-1=0, and (x, y, 2) = ax? + By? +y2-1=0. SF Prove that the points of curve of intersection of the sphere and conicoid ata ryt r= 1, ax? + by? +c = 1, at which the osculating planes pass through the origin lic on the cone ant 4 bor, em [Ajmer 2005] b-c c-a a-bCurves in Space } {47 Fundamental unit Ve, gaa? Principal Normat . Definition ¢ p, the oseulating plane ‘ctors and Fundamental Planes and Binormat eel Normal : ‘The normal lying in MLW pol P hive ee . Wt is obvious that this hors anal is the Tine of intersection of the oseulating plane andl the norman npPeo to plane at that point, The unit vector along the principal normal ig de- A noted by n. Definition : Binormat ; me . Novmal t The normal perpendicular tg Mytl Tara! the principal normal of ead given curve at a point P ig one called binormal of the curve at b that point, Clearly, PB is perpendicular to pri binormal at any point P Boma) Fig.24 , ‘ ipal normal PN, Therefore, the is the line perpendicular to the os culating plane at P. The uit vector along the binormal is denoted by Jundamental unit vectors : The unit vector along the tangent, principal normal and bi= REA normal are: t, m and b, respectively, and form an orthogonal right handed triad. Thus. + Also AKA The unit vectors tn, B, which vary from point to point on a curve are called the fundamental unit vectors of a given curve and constitute what is known as the Frenet's frame field on the curve C. §2, rection cosines of the tangent, principal normal and inormal We will denote the direction-cosines of tangent by hamynys principal normal by Ia, my. my: and binormal by Ia, myeny. e(Q HL)[Dittereny: 48] vty ¢ (a) When the Bare is are length ‘s> , Simee the unit tangent vector ? is given by r’, we have papedade dy den ds" . 4, y Hence, 24 The oe) is en to the osculating bling Ny vector Px Pr” is normal to the osculating | plane (c.f. $2.8), This iio 4, that binormal is parallel to the vector r’ Xr”. i, poe, Hence, = xr’ . yev— zy” 2 5 At VE ("= 25"? xnav = Lye”=29'P A AA Further, n=bxt Jon se tp (xe )xr (ar (e rr PX Ie xr Avie or STP ager wee tiene pot! 113 since r’.r’ = 1, and its differentiation gives r’.r” = Thus ay (2.11.6) where x’= aA Sa etc, (6) When the parameter is ‘t’ : The direction cosines of the tangent are toed (2.11.7) Since the binorm: al iS perpendicular to the osculating plane [ef §2.8(iii)], therefore direction cosines of the binormal are Is my * (akb)x =(be)aCurves in Space ] [49 jh 22) (ie Ve eP {By Lagrange's identity) ht, my =, Hit. Ne Nam," NerF el (2.11.8) » For direction cosines of the Principal normal, ‘we fare b= myn, — mins, (211.9) 24 HR and S¥SEV ASV HEE. (QMO) ” g plane mn: The plane containing the tangent and the binormal at a point P on a given curve C, is-called the recti- fying plane at P. : §242Equations of the fundamental planes The three planes viz. osculating ‘plane; ‘normal plane and rectifying plane associated with each point of a curve aré called as the fundamental planes. These planes are perpendicular to eachother and can be determined by the moving triad of unit vectors, ¢, a, 4h, called the moving trikedron of the cuive, at the point. Equation of the orctiis plane : It ca ¢ and n or in other words it is spinnet by: t and fand is normal ob, it's equation is ~[ Dilteren tay 6 % 50] 'y (R pore R and rare the position vector Ms 2) on the curves respectively. pint PON Peat al plane ns contains p current point on the ," D n of the Norm: and b or in other words spanned by n and D an, normal 10 ¢ it's equation is (R- nt =0. . sean} Equation of the Reetifying plane Ry ut contains and ¢ or in other words spanned by $ and ¢ a nd j, normal 10 Ay i's equation is (R-nn= In the Fig. 2.4, the planes normal plane and rectifying TPN, NPB and BPT are ctl plane, respectively. My plane, Thus, we have Normal plane: (R~ paz Rectifying plane: (R- n.n=0 osculating plane: - 2) §=0 jot Let R= ef np + Chand r= af typed Cartesian form : 2) on the curve. be the position vector of any point.P(x, ys % Let the direction-cosines of tangent Jymy my principal normal "fay Ma, M2 and binormal Jy my Ma A - ei yi + my jt mk ‘so that, A ALA +m3j + 13k. Substituting these values’ in the equations to.three fundamental planes, we get the following required sao of: Normal plane: \(@-x) + m(-y) + my(6 -2) = 0, Rectifying plane: (6 -x) + mq -y) + m(C- 2) =0, Osculating plane: 1,(6 — x) + mq. -y) +.1,(6 - 2) = 0. Naresh ji Sir a 9461843568(whatsapp A t APT Ag Ad OW n=hi +m2j +mk A bCurves in Space } [51 > te yi Equations of brinctpal normal and binormal Let _r be the position Vector of any point PO ys 2) of a given curve C at which we are to find the equations of the principal normal and binormal, Also, let be the position vector ofa current point Oem 0 on the principal normal, then wehave OP =1, 00 = R, PQ= a, it veo nis the unit vector along the Principal normal and Ais some scalar, Since Fig. 25 By triangle law of vectors, we have 00 = op + Po. ie, sie, cveeee Rersan, vo(214,1) which is the required equation of the Principal normal at the point P of the curve C. Similarly, if R denotes the Position vector a current point R on bi- normal, then equati ion of the binormal at the Point P of the curve C is given A by . R =r+ub, where His a scalar. eve(2.14.2) ____,Cartesian form : The principal normal passing through P(x, y, z) having direction-cosines f>, m, ny is given by 7 Box nay Coz > my 7 my Th Ga), von(2.14,3) where is a scalar, Also, the binormal cosines 15, m,n is given by =x may _Gz ae eee (say), son(2.14.4) Passing through (x, y, 2) having direction- where i is a scalar, Curvature and Torsion 82-15 Curvature. Torsion and Skew Curvature Seoarvature 5 Definition : The curvature vector at a point P of a given curve is the are-rate of rotation of tangent i.e. change in the direction of tangent as the point P moves along the 2 : curve and is equal to othe magnitude of curvature vector is called curvature of the curve and it is denoted by -52] [ Differential Geo, Mey a dl x (Kappa) = | fthe curvature is (2, 15, i salled the radius of ‘The reciprocal o| cal CUrvaty, and is usually denoted by Ps thus p= C Ty 159 -Curvature at a point ¢ Let P and Q be two C0 tive points of a curve C so that arc is positive and of ength 8s. If dy be angle between PT and QT; at P and Q, respectively, then average rate of change in the direction of the tangent over the are PQ= : he curvature of ¢ N wich is denoted by 5 2 : *, secur Q he curve at Pp Fig. 2.6 Lim and p is called the radius of curvature. AA. Let t and t +5 be the unit tangent vectors at two con- secutive points P and Q, respectively, and Sy be the angle between these p A. vectors. The unit tangent vector t is not its direction a constant vector (since 1 changes from point to point). > A OA 1rQM=tandQN=t + &t, then we have > A > > MN =8t, Z MON = dy and 1QM1=1=1QN1. Now, from isosceles triangle QMN, we get Aliter = > Fig. 2.7 e bv =1diN1=2 sin = istiemw=asin (5) a || sin (Sy/2). BY. (Gy). 8scqunes in Space| (53 “Therelore, curvature at P, A a | Lin | st | ¥ TF B50 |G Sy) by sin ~ Lim 0(®) bs dy 5:90 anya Hence, shi, K AK | ay Also, 1.1 = T. which on differentiation gives €.4° = 0, this shows (et) expendicular tot, Si that (= gy ) 8 Perpendicular to 1. Since v (= r”) ties in the osculating plane, therefore, we conclude that shouldbe parallel vo’. Hence via Cem (2.15.4) which is Serret-Frenet's first formula and will be taken up again in 92.16. Note : (i) It may be noted that althou; A igh the magnitude of t is unity, but the magnitude of tis x. . uy (ii) As a convention, the direction of. 2 is so chosen that curvature x is always positive (i) When the parameter is +? : In the case of parameter f, we have A t and yt A, a Awa Hence, keltxtl, fo txt'extxn=xb] _ li xl ote, li x ¥1 or K a [eo dslil] 2.15.5) (ii) When the parameter is arc-length ‘s? : Is= 1, then kelrxe’l, Cartesian form + (i) When the parameter is ‘’ : If r be the position vector of the point P(x, y, z), then vve(2.15.6)| Dilteten) a “nial G S S4) rr Ny a A RO \ and Therefore. or or = ' : [By Li 'y Lagrange's 1 Gta yte 2-9) “Kn, po " . where t= = > etc. (ii) When ‘the parameter is arc-length ‘s’ : Ifr=s, then K2 a(n x 9), A AA where rexityjtzk A ib poh revi+tyj+7k Dad 4 os axi ty jt2"k, 2 A A A i fo ok f Ol ea iene Therefore, Rely yg a” yo” aE (2"-zy’? HE x2 Ex”? -(Lx'x")? Again, s?= Dx? = s’s”=Ex'x” and s’=1 = 5” =0. Thus a axa y 4 tate (2.15.8) Aitosion B efinition : The torsion vector at a point P of a curve is the arc-rate of change of binormal as the point P movesCurves in Space } [55 A along the curve and is equal to a. The magnitude of torsion rector is called torsion of the curve and is denoted by f t(Tau)= | 4], | ds The reciprocal of + is torsion, thus wee(2.15.9) denoted by 6 and is called the radius of sd (2.15.10) Torsion at a point ; Let P and Q be the consecutive points of a curve C so that are PO is positive and of length 8s. If. 8} be angle 34 la between binormals PB and QB, at Pand 6 Q, respectively, then average rate of change of direction of the osculating plane over the are PQ == Fig. 28 dt Gop and gis called the radius of torsion. MR Se Aliter : Let band b + 8b be the unit binormal vectors-at two consecutive points P and Q, respectively, and 8} be the ani le between these vectors, Obviously, ifthe curve is not plane, 0 then b changes direction from point to point. > A> A A > A I OR=b, OS=6 +86, then RS =86, Now from isosceles triangle QRS, we have > RS=1RS1 =210h Isa ( ). > 1861 =2sin (82).[ Dilfereng lal, Xy 561 Me vi ($) 1 sit sb] = lsh” 88 A | Lim || Hence, db = §p90 | So _ Lim sin (S/2) = $0 (56/2) el. Therefore, torsion tal P is A _.|@ “las A - | db | do_ao_t, “lala a 6 where is called the radius of torsion. The angle 56 between the binormals at'two consecutive points i equal to the angle between the osculating planes at the consecutive Poin thus alternatively we may define torsion as + 2 Definition : (Aliter) : The torsion at a point P of, curve is defined as the arc-rate at which the osculating plan, turns about the tangent as P moves along the curve, i.e., di ds tive or negative value. Therefore , tix determined both in magnitude ind sign. When the rotation of a principal normal and binormal as the arc increases is that of a left handed screw, such curves are called sinistrorsum and for them 7 is positive. If the rotation form a right-handed screw, the curve is called dextrorsum and for thein t The torsion t may have posil is negative. AA . , a Since 6.1 =0 we get on differentiation and using (2.15.4) b’.t = 0. A , it follows, on differentiation that b’.b = 0. Thus b’ is _ AA Also from b.b A it is parallel to m and lies in the perpendicular to both and b i osculating plane. Thus, we may write, by convention, bi 2th. vee215.12) Which is Server Frener's second formulae and will be taken up again in §2.16. A curve whose torsion is non-zero is called @ twisted curveCurves in Space ] [57 (i) When the paran In the case when py torsion is given by neter is are length ‘s' : ‘ameter is arc length s, then the magnitude of “ ta} & Now f= xr” “rer [ef. (2.11.4)] = xr’) K . A [106 ce” 1 fyi cre ind this a Hx Rx db ewe ata a ee AB xe Therefore, bx Ge EXE (x re x « Cor’xr=0 and (x r’) x(x”) =0] if ti Hence, =Ibxb'I seer] sen(2.15.13) 4 r (oe bxb’=tt] Now, or a afi every} a saa) Therefore, voy ¢ Tey yt gt | ge swns(2.15.15) vy yn (ii) When the parameter is‘? ; [Raj. 2004] * (axb)x (ex d)=[ abdje-[abeld58) te. Therefore, or i? where s . Using (2.15.5), we may also write tx ¥P 2.15.16 c I. Skew Curvature ¢ Definition : The skew curvature vector at a point n a given curve is the arc-rate of change of principal Norn A d@ f 18) as the point P moves along the curve and its Ta ie. nitude, calied the skew curvature of the curve, is given by Co) ee (2.15, iis result follows from Serret-F1 ‘renet's third formula given in §2 Serret-Frenet Formulae [Raj. 01, 05; Kota 05; Jodhpur 07; Ajmer \ a A ye > The arc-length derivatives of the fundamental vectors t, 2, 8 are oN 4 ‘ A Ls (i) Fe xn, (i) B=—am, and (ii) B= hb. These are known as Serret-Frenet formulae or simply Frenet { ‘ dn ds mulae. AA LA Proof of formula (i) : Since t.t = t? = I, therefore, differentiation with respect to arc-length s, we have ade t. as =0 A a+ ependitrto as 8 Perpendicular to t. at But a ds The equation of osculating plane at a point P(r) on a curve is [R-r,r,r’] =0.eyes in Space | (59 sete r Ties i the oscutating plane, Therefore ’ is perpendientans. Therefor Seneca (0b and itis also perpendicular to , Henee. t's parallel tw xg 4 0G hes tis along the principal normal * rporefore tis propotional to @ ig, it do a ds TC =EKn, a ee we ‘take the positive sign (the direction of the prin- cipal normal is so chosen that curvature 4 i always positive), Thus, a . Thus, U =kn. Cartesian form: Let aes A AA thi tm tm, where fm.) are the direction-cosin Simnitarly 15, ms, 's of tangent at any point. Nzare ditection-cosines of principal normal there- fore, roa +myj tok, fore, dt ‘Therefore, dl A dma dun A AK ht RD HSER) = nth + ad ns) aye > a N gives dn dn I kmy and T= Kn, & * ds or bp 2.16.2) Proof of formula (ii) : Since §.b respect to s, we have ‘] A a. This implies fe is perpendicular to and thus “Pes in the AA esculating plane ée.,in the plane spanned by ¢ and n. AA Also, b. t = 0, on differentiation with respect to s, we get x A a aK O48 eo or Bt a fien =o ds ds ds60) Chiat oy, A My db * w «' t=0 ‘ IAs fa A " db f an \ a js perpendicular to t. ds d h i 7 aS Aa Thus 4,18 perpendicular to the vectors band . This j a imp A iN A Nl db aA. db, dh A \ arallel to bX tke. is para Lion. Hence, =~ = a“ parallel to bX the. ay SP alle! i = Em, In the right-handed screw system, by convention, 7 j nega therefore ivy A Dam bt tat ftp tee se 1g) A 4 Cartesian Form : Let b = ih + my} + yk where 4s, m, are direction-cosines of binormal. my Therefore, cae ttn gives dln dns +e) teh? +m, ; +m % alta! om or tes tom and 32+, ma, dis “ to'@ ot (2.164 A Proof of formula (iii) : Since n A A A Therefore, dn db ta bx dy ds d Using formulae (i) and (ii), we get A A A AA oe _nx te bxxn AA =tb-Kt. woeee( 2.16.5) A A A AAA +nx t =-bandbx n=-t) 5 Retin OAEALALU A Af Cartesian Form : Let t =/)i +)j +k: n=6i + mj +m A RE ANA it and b =i + mj +.nyk be the fundamental unit vectors in terms of thelt direction-cosines.curves in Space | (st Therelore, ay | diy a ie ae ae ee Rett tm} em) A A’ =K(h i myh +R) > Oe yt ‘ dn ds We y= Ky and “7 y= KM dh: or = 8h diy my im dy my (2.16.6) ano pa pM anon p Note (1) : The Serret-Frenet Formulae can be put in the matrix form as follows : " 0 «oO nis] -« Ot b’ 0-0 AAK t, n, b) is referred to as "Frenet-frame (2.16.7) o> B> > (I) The moving trihedron ( field" of a given curve C, and the set {x, 1, t, my b} is known as “Frenet apparatus.” §247 Important Theorems jeorem The necessary and sufficient condition for a curve to be a straight line ig that the curvature x = 0 at all points of the curve. “)_©) Proof : Necessary condition : Let the curve be a straight line, given by r=atse, where a and ¢ are constant vectors and s be the measure of the length of the arc from a point whose position vector is a, therefore A de t= re c oA Then, 0, this implies xn = 0 Hence, x =Oandr"=0 Hence the condition is necessary Sufficient Condition : Let «= 0, therefore r” On integration, we have r’ =c (a constant vector) Naresh ji Sir 9461843568(whatsapp627 Again, integrating onee more, We Bet PeMd sey where a is another constant vector. Clearly r= a+ se denotes ay ine, Hence itis also.a.gulficient condition, a, ‘orem ‘he necessary and sufficient Condit, a given curve bea plane curve Js pint T= 0 at ay on th the enrve or in other words [r’ r” r’”] = 0. Wdatpy, Minty Proof : Necessary condition : Let the curve be a py, ot then the tangent and normal at all points of the curve lie in the Plan, curve i.c., the plane of the ae is the osculating plane at all Points mn i or curve. Since the unit vector b along the binormal is Perpendicular osculating blane and osculating plane is unique for all points in this the vector bisa Constant vector Hence = 0. But by Serret-Frenet formula, GS + " b’ =~tn = 0. This implies t = 0. btn ite = arr’ re} = [rrr which is the necessary condition. Sufficient condition : Let [rr r’”] = 0. Then x? = [r’r”’ r’”] implies, either 7 => ork=0. (i) Now, let t # 0 at some point of the curve, then in the neigh, bourhood of this point t # 0, Hence k = 0 in this neighbourhood implies that the arc is a straight line [Theorem 1] and therefore t = 0 on this ling which is a contradiction to our hypothesis. Hence, when K = 0 at all points, the torsion t = 0 at all points and the curve is a plane curve. A (ii) Conversely, if t=0, at all points, then by Frenet formula & A i.e., b is a constant vector at all points of the curve. If the equation of the curve is r=r(s), then A, A An (rb) =r.b + rb’ = tb + rb’ = woe ry A, This implies r.b is a constant scalar. In other words the position vector of any point on the curve is at . A right angles to the fixed b. Hence the curve must be a plane curve.qyncsin Spee | 103 Farther t= O at all points implies Le’ pp Dor fee ‘Thus the condition ) at all points of a given curve is oth necessary and sulficent for the eurve tw be a plane curve, Corollagyes Necessary and suttic St nt condition that a rve to be a plane curve js [jp { = 0. at all points of the cu curves \ Proof : Let us take the rameter fand a dot denotes ; \ 5 parameter as 1 instead of the usual entiation with respect tou, and a prime a denotes differentiation with respect to are length s; Then V sin) 0" Fw? 4 iy” and r= FW 4 tu 43 tata”, 1 where . Hence, [r’r”’r’] = u'6 [rE] This implies that when t = 0 at all points of the curve, we have {rF F]=0, as the necessary nat ie condition for a curve to be a plane curve. Theorel ff the tangent and the binormal at a point of a curve make angles 6,4 respectively with a fixed direct- ion, prove that sin 6 40 sin 6 do a Proof Let a denotes a unit vector in the fixed direction. then by the given conditions, we have 5 : [Udaipur 08] AN An cosB=a.t and cos=a.b. Therefore, sino =a’ as A a AN =a.Kn=K (a.n) ween( 1) a ino eo any and ~sin g =a ae OAT =2\(¢ tn) =£1(@.n) su) From (1) and (2),we have sin 6.d0_4K, ve sing db= tt Hence Proved. _Bpestom 8& The principal normals at consecutive PointsOf a curve do not intersect unless t = 0.ol Let the position consecutive ports P yand et Or and Proof yeetars OF WO and Qona curve be Tet the principal normals at these A respectively. Tn order that the principal normals a these points May’ intersect. it is Neces- : 7 UNA P : A that the three vectors den, nda ar, Now. these vectors are. sae ints be 0 andn tdi sary, > are coplan: coplanar if Fig. 2.10 AA A A AN [dryn, n+dn}=0 oF [dr, n, dn] = 0, A A A or [« , da) o oo Irn n’} =0, ds 7 ds AK A AN or [ti n, th- Kt} =0 oF {t, a, th] = 0, ARN or t[t, nb] =0 a ene ¢=0, since [t, m, bl = I > sie ‘Applications of Serret-Frenet Formulae Ags To. find the direction-cosines of principal norm a and binormal : Atty When the parameter is From Serret-Frenet formula (2.16.2). dl h=Py or Similarly, m2 =P ~ (2.18.1) which are the required direction-cosines of principal normal. Further, [y= myitz— moi ‘Therefore, [y=in Space } cones [65 Similarly my (2.18.2) 4 he required direction I it " ile ln-cosites of the bittormal (i) When the paramet v7 fireetense ameter Fe the eretenth's Therefore, by spr”ap x, 7 Pas Similarly, ey m =P and m= 9 a, von. 18.3) “Also ie (¢& OL ae nt ee dvi sds? sd ae dey dydey Pa as de ean) A To find the radius of curvature (p) : (i) When the parameter is te From Serre(-Frenet formulae in (2.16.2), by squaring and adding, we get 4-4) dm)? (dn)? eG) +e) (8) wu isa Therefore or +++e(2.18.5) Since Ei? = i and BAX = 5. (ii) When the parameter is the arc-length s : Wr=s,then $= 1 and#=0 Ade by be a Pratt at (2.18.6) €é) To find the radius of torsion () : {Udaipur 2007] (i) When the parameter is t : From Serret- ere formulae in (2.16.4) ll , 4 = +4 t 2 (left handed screw system) and from-(2. ie we have66] =p or 3 On differentiation with respect to 4, we get BRK ly + F or Bis’ + 8 ig Bagh ge ome To te leeg" ( Similarly, 2 3m, ma cee arety gy Ca and 37mg S + =p ky -yx)+p7 Pos 2.4, Multiplying (2.18.7) by 42, (2.18.8) by zz and (2.18.9) by adding we have Ny Sa plhge -2) + mG -¥2) + MEF — Hy pag ted , Substituting [p, mz, 2 from (2.18.1) into (2.18.10), ie at simplification 7 ey 1 -p? | ==5 x GO 88. Joe & ey where x= > x= a dead, er is the arc-length s : ity When the paramet Ift=s. then s=1 and § = 0, and replacing f by s, we get aa 7 , ae batt EX oe p x vl where x73 7x7 = 77 ete, xy. z Illustrative Examples Ex.1. Determine the function f(®) so that x =a cos 6, y =a sint 2= (0); shall be a plane curve. [Udaipur 2004; Bikaner 2004; Ajmer 200! r =(acos 0, asin 6, f(8)), r =(-asin@,acos 6, 8), ¥ =(-acos 0,-asin 0, FO), E =(asin @, -acos 8, 718) Sol. HereCurves in Space | 161 ‘The vondliti SOMEMION TOP a Curve ty be a plane curve is [##'#] = 0. © fo 280 eos 0 HO) "] aos 0 a sing hoy | =0 “sin0 aces 70) Adding fst and thi Me THSL tnd thitd rows, and then on expansion, we eel a TO Alter integration, We vet the required function AOD =A +B si sin (0 +), where A.B, Care constants of integration, E show Ser) . yes how that the Serret-Frenet formulae can be written in the form A a s and determine the vector @, : Sol. We have it dt oa AA aA =xns : Ie tx t=] Hence, wy i / dn Wn ALA Also, ds SM KES TX HKD x) in dn fea Hence, patty (ii) AA A Further, ~tmex(t x B)+xbxb, tBxb=o) id hyd 0 Hence, ue = (tt + eb) xb From equations (i), (i), (ii), we have A a b 1, which i called the Barbour vector of he cane\ ind the equations of the principal normal and of the oscularing plane at any point of the curve given by the equations « x= 4a cos}, 6, 3c cos 28: [Raj. 2005] Sol. Here F = (4a cos*, 4a sin’ 8, 3c cos 20). , ire Y=ox t; sox n where @ = Tt +[ Dilleremtial Gg, Mig os] specfenglth ‘swe gel Dpinferentiating WW respect tO tre Jeng vd ' ) 2a sie cos 0. = 6 sin ag ap ts te G(~ 2a evs osin 0 0) do Mb acos hd sin 0. = 6 rg 4a? sin? 0+?) (*)' as Pepsin d eos Oe cu ov since (0)? = fe therelore y= 14d sin? 8 cos’ 00 eh 12 sin 0 cos O (ate c or ¢ have Substituting & from (2) into ( 1), we ha ®t aces g,asin 8,- 0) sl (+e) Again, differentiating with respect _ (asin 8, a 0 a +c) ength 's’, we have to arc-l 5-8, 0) 7 és et sin 8, a cos 8, 0) "5 +0) arnt [Using equation (2) Therefore, =a) ate 3; (see 8, cosec 8, 0) sonal) It is known that the principal normal is parallel to vector r”, therefore direction cosines of the principal normal are proportional to sec 9, coses 0,0.“ Therefore, point '@' are the required equations of the principal normal at the x-4acos'@_y-4asin*@ _ z—3ecos 20 sec sec 0. 6) The required equation to the osculating plane is X-x Y-y Z-2z vy of [=o yg X-4acos*8 Y-4asin?@ Z-3ccos 20 or -acos6 asin® =e =O red (6) sec cosec 8 0 [Using equations (1) and (4)}yr cynesinae 1 (09 ¥ Bud. Prove that the parallels through the origin to the binormals pine lis FS (a.c08 0, asin 0, KO) i right civeular cone e (x2 4 2) = x Sol. Here F = (acs Oasin 0,k 0) ‘Therefore F=(-asin 0, avos 0, k) and Fac 0,~a sin 0,0) Ts FXF =(hasin 0, — ka cos 0,42) : =al in 0, ~k cos 0, a) where dot denotes ifferentiation with respect to the parameter 0, ‘Therefore, the ditection-cosines of binormal are Asin 8, ~k cas 8, a. Hence aay line through the origin, parallel to the binormal is i ‘ jon Eliminating 8, we get Ox +92) = Re! ‘Therefore the lines through the origin, parallel to the binormal, lie onthe above surface which is a right circular cone with vertex at (0,0, 0) and its axis 28 20X18, Ex.3, Prove that for the curve x =3,) y=3P, 1422) p= a [Wdaipur 2000] Sol. Here r = (31, 3P, 28) : Differentiating three times with respect to , respectively we get F = (3, 61, 6) = (1, 24, 2°) # =3(0, 2, 41) = 6(0, I, 24) and # = 12(0,0, 1) Hence 8(2", - 21, 1) ang 18x 122216 a (1) Also OL e424) = OLED a (2) 324d +4 $1) nel (3) _ 211 +27) | *18(1 + 27) (1+ 2e?0) iy and Henee Note : Por’ Jefi-chanded system. 3 »)) 2-5 (14 2F) 6 d ( Henee in this case . Pp 7% For a point of the curve of inter-section of the sh i ) " ‘ wayrsc’ yea tanh *> a 3 => + 2p)? 6 gilt ) ay? Show that pends: [Udaipur 2001; Ajmer 2001, 05; Ray, Sol. The parametric equation of the curve may be written ay 4 cosh 8, v= c sinh @, and z= ¢Q and Then, 7 1) Therefore, Actcosh!O Hence, p = 2c cosh? 0= c 7 Z [+ [Lefi handed screw system} $ csinh® ceosh® ¢ | ccosh® csinh® 0 csinh® ccosh® 0 _ wd (2c? cosh? 3 ~~ 2c cosh? @ es 4c? cosh? 0 =~ (2c? cosh? 6)yes in Space | L, i herr, 6 =~ Ie eo? 9-2 a 2 Hence, ps- 2 ’ ind the radi pe i if rar and torsion ata point of the curve Pea. yr ” : Say, 4 ae 2002; Jodhpur 2001, 07; Ajmer 2004] ol. The pra : © equation of the curve may be given by ; = 40058, y=a sing, ‘Therefore, " = 4 (cos 6, sin 0, 0 cual ‘Then 1 =4(-sin 8, c0s 6, ~2 sin 26) 8, ~sin 8, ~ 4 cos 20) cos 8, 8 sin 20) ? (4 cos 8, 4 sin* 8, 1) and = 6a" sin 20 a (5-4 cos? 20) (4) : a (5+ 12 cos? 2) Therefore, 2 = 4243 Hence, Pa Gay Tey ose c05 26) (5) ad 1 Lex EP 54 12e0s?26) 6" sin 20 o(s+n3 o(s+28) Sa 1222 fa “oa Ve) Ex.8. Prove thar bsp? 2 bl tp? yraymra gmat y pot pf where primes denote differentiation with respect to's. [Bikaner 2005] Sol. Here x’= "= 1, (Iymy,m, are de's of the tangent) 7 Then, [By Serret Frenet Formulae} Also,2 (Dity | Mere B J! 44) help nN “pp a7” pas ‘herelon’, , mo qe ty? hy, by Zep? po! + pa + p ?) + 2h (® p re) 1 2y, Py (\ Henee, ra? = 102 Dye + Sy Lh? + =, ee pi Oe page ae remaining terms will vanish. Finally, 2.4" =~ where, p= ‘ Ex.9. The principal normals to Gegiven-ciilve are aly, normals to another curve. Prove that the distance between cork Prin points of the curves is constant, that the tangents at co. sponds n, are inclined at a constant angle and that there must be a linea \ between the curvature and torsion of the given curve. Fela, [Note-: Such curves are called Bertrand curves Sec, 9 Sol. Let O, (% ¥. 2) is a point on the first curve and the 7 normal at O meets the second curve in 07.(X. Y, Z) such that oo" also the principal normal of the second curve at 0%. Let the direction «. of the tangent, principal normal and binormal at O, O’be |, m,n M,, Nar 1.2.3 respectively. Then ' XewxthrnYeytanr Zee+iyr It ds and dsj are the arc length elements at the corresponding 4 Cay ang of the two curves, then 1 ea ere 1s, dy 7 2d, dy = {u-(be3 Hee S ds, dy. (mm de} Mie [ony-r(Be) +m ds, {x (248 anes a IID GD dbs I ds, Is, It we take O as the origin and the coordinate axes as the tangt! principal normal and binormal of the first curve. respectively, we have 1 = Lm =my 20; =m =0,m2= 1 and J, = my =0, 13 = 1sin S| 17 ‘therefore. at the origin Ly iM, =e de as, ds, Ve xy ; dy ody a su) Since the tangent to the second e is ate ‘ur H g] apes 00% (smarty e hayes He MiMi) a 0" tic ZhL,=0 i i ab 9, ie, 7 is constant. v5) Hence, My = ‘This means i the distance between such corresponding points is constant. Further from (2) on differentiation, we find a bobr {De bed geil (ey (de etc. Here a prime denotes differentiation with Fespect to s, Therefore, at the origi and Also, the binormal (/ angles 0 00% ice, {% Dea} imples mM = 0 or My = 0. Thus [e,f. (2.11.4)] PX AX €Z or (lp, mtgy m3). This get On integration this gives log {40-3}: jog = or or rt=A(l-rk),