Communications on Applied Nonlinear Analysis 9(2002), Number 2, 31-50 Flat Embeddings of the Mobius Strip in R3 Carmen Chicone University of Missouri Department of Mathematics, Columbia, Missouri 65211, USA N. J. Kalton* University of Missouri Department of Mathematics, Columbia, Missouri 65211, USA Communicated by the Editors Abstract ‘This is a paper originally circulated in preprint form in 1984. The paper contains two main results: a theorem that gives sufficient con- ditions for a space curve to be the axis of a ruled developable Mébius strip in R? and a new formula for the total torsion of a spherical space curve. After the paper was written, in 1984, a referee pointed out that part of the first result—the existence of a flat embedding of the Mébius strip in R°—had been obtained by W. Wunderlich in 1962, While for this reason the paper was not published, it has since been cited several times, for example, by G. Schwarz, The dark side of the Mébius strip, Amer. Math. Monthly, 97 (1990), 890-897; T. Ran- drup and P. Rogen, Sides of the Mobius strip, Arch. Math. 66 (1996), 511-521 and T. Randrup and P. Rogen, Gauss-Bonnet’s theorem and closed Frenet frames, Geom. Dedicata 73 (3)(1998), 295-315. The pa- per is published here, with minor corrections, to preserve its original contents. Research supported by NSF grant DMS-8301099 311 Introduction If the ends of a strip are joined to form a cylinder the Gauss curvature of the resulting surface is zero. If the ends of the strip are joined after a half twist a Mobius strip is formed. Does the resulting surface have zero Gauss curvature? It is perhaps a surprising fact that the standard embedding of the Mébius strip in R%;i.e., the ruled surface generated by an interval which undergoes a rotation through 180° while its midpoint traverses a circle has negative Gauss curvature everywhere [1, p. 172]. However, after some reflection it is easy to see there are C® embeddings of the Mébius strip with zero curvature. Figure 1 shows such an embedding which lies on the surface: of a cylinder which is C® flat to a portion of a plane. ZL) Figure 1:Moe Hirsch has asked if there is an analytic embedding of the Mobius strip with zero Gauss curvature. Actually this question has a rather long history [8]. M. Sadowsky (5, 6] found a developable Mobius strip M which is constructed from portions of plane and cylindrical surfaces such that M has minimal deformation energy H among ruled Mébius strip surfaces with a single half twist. Here E is defined to be [ xdA iM where x denotes the principal normal curvature perpendicular to the genera- tor of the ruled surface and dA denotes the element of area. Later, W. Wun- derlich (8] described a flat embedding of the Mabius strip as a portion of a developable ruled algebraic surface (defined by polynomials of degree 39) in 3-dimensional real projective space. This surface is obtained as the envelope of the rectifying planes along a curve in projective space parametrized by polynomials of degree 6. This curve is given in homogeneous coordinates by 1 Zo= yt + (6t + €t)?) a =at + Bt + 0° ty = bt+et* oe oe where a convenient choice of the coefficients as explained in [8] is 1 1 1 2 1 4 p P=R HR O=H C= Ome Of course, in R® the curve is represented (using the projection 2 : a : 22 : a3 =1:2:y:(z—c)) by the rational functions ot + Bi + yt* 2() =~ ——— ® 3(1+ (6 + €t8)?) ot+ets (1+ (6t + €t3)?) 2(t)=c- F(1 + (6t + f)?)" a Since these equations do not parametrize a closed space curve they must be interpreted to include the parameter values t = -too which correspond to 33the point in space with coordinates (0,0,c). Actually this leads to a slight technical difficulty (which our analysis avoids) since the curvature of the space curve vanishes when t = -too. a similar interpretation must be made for the family of rectifying planes along the space curve. In this paper we also answer Hirsch’s question affirmatively; we prove there exists.an analytic flat (Gauss curvature zero) Mébius strip in R°. The embedding of the Mébius strip which we construct is a subset of an analytic ruled developable surface where the ruling is parametrized by a circle. Our embedding is defined by a function of the form F(s,u) = a(s) +uo(s) where @, called an axis of the ruled surface, is an analytic periodic function which parametrizes a closed space curve with nonzero curvature everywhere trans- verse to the ruling lines generated by the analytic curve of unit vectors given by w. In addition to this result we show that a smooth axis of a smooth ruled developable Mébius strip cannot be a plane curve and any nonplanar closed curve with nonzero curvature is the axis of some ruled developable Mobius strip. Moreover, if a is a closed space curve with nonzero curvature which is not planar then ais an axis of a ruled developable Mébius strip whose ruling is everywhere orthogonal to a if and only if the total torsion of a is an odd multiple of 7. The authors wish to thank the referee for pointing out reference [8] and suggesting many improvements of the original version of this paper. 2. An Embedding Theorem In this section we will prove the following theorem: There exists an analytic flat Mébius strip embedded in R°. To this end we discuss some notation and basic facts about space curves and ruled surfaces which will be used throughout this paper. Let a denote a closed space curve with no self intersections parametrized by arc length. We assume a is periodic with period T and that the curvature of a never vanishes. Then, as usual, we define : alt teal, n=S> and b=txn. {ol ‘The Frenet frame (t,n,8) along a satisfies the cross product relations b=txn, txb=-n, nxb=t 34and the Frenet equations t=nKn =Kt — 1b =r where 4 > 0 is the curvature and 7 (with the sign convention of (1, p. 181]) is the torsion of a. We intend to construct, our embedding of the Mébius strip as a portion of a ruled surface parametrized by a function of the form F(s,u) = a(s) + uw(s) where a is a space curve satisfying the conditions stated above, w is a curve of unit vectors, s € R and |ul < € for some ¢ > 0. Here the ruling of the surface is the family of straight lines generated by the directrix w. Since F is to be an embedding F must parametrize a regular surface, i.e., there must be a nonvanishing normal vector at each point of the surface. In our notation the normal vector is given by (t+ uw’) x w. Thus, since the image of a is compact the condition ¢(s) x w(s) # 0 for all s insures there is an € > 0 such that the strip {(s,u)|s € R and |u| < ¢} is mapped to a regular surface by F. A closed curve which satisfies this condition is transversal to all the lines in the ruling and is called an axis of the ruled surface. Finally, the ruled surface will be flat (have Gauss curvature identically zero) if and only if it is developable [1, p. 194], ie., (t,w x w’) = 0. Ifw = pt + qn + rb we compute (tw x w") = gr! — rq! —1(P +1?) — pr. Hence, F parametrizes a flat surface if and only if qr! = rq = 7(q? +1?) + rpr. If we view (g,r) as coordinates in a plane then the equation may be interpreted as 6 = prsin@ +r where @ is the angle (q(s),r(s)) makes with the positive r axis. In this inter- pretation (g,r) are the coordinates of the projection of w into the (normal) plane spanned by n and b at each point along a. Since the Frenet frame is pe- riodic of period T; w will generate a Mabius strip provided w(s+T’) = —w(s) which is the same as saying 6(s + T) = 0(s) + (2n + 1). This is our basic geometric idea; it leads to the following proposition. 35Proposition 2.1. Assume a is a smooth (resp. analytic) closed space curve with nonvanishing curvature &, no self intersections and torsion r. If there is a smooth (resp. analytic) function @ satisfying 0(s-+T) = 0(s) + (2n-+ 1)r for some integer n and some real number T’ > 0 such that the function f(s)= is smooth (resp. analytic), then a is the avis of a regular developable embed- ding of the Mabius strip in R° which is smooth (resp. analytic). Proof. We assume a(s + T) = a(s), |a'(s)| = 1 and a"(s) # 0.+ We will construct w(s) = pt + gn +rb such that (1) w is smooth, (2) |w] = 1, (3) txw #0, (4) (tw x w") =0 and (5) w(s + 7) = —w(8). If these conditions are satisfied it is clear that for some > 0 the function F(s,u) = a(s)+uw(s) will parametrize a regular developable Mébius strip for s € R and |u| R* is parametrized by arc length, satisfies a(s +7) = a(s) and [rods=n. ‘Then, we define . (s) = f[ 1(0) do : and observe that 6(s-+T) = 6(s) +7 and #(s) =7(3) for all s € R. Thus Ne) = 2" = “sind is analytic and the theorem will follow from Proposition 2.1. To construct a we observe that a curve on the surface of a round cylinder of form A(0) = (acos 8, asin 9, v(0)) with (+ 2n) = v(0) automatically has nonvanishing curvature and no self intersections. Set @ = p(s) so a = (0(s)) is parametrized by arc length and assume the total length of a is T. Also, as a notational convenience let w = v'(8). Then, the total torsion of a is “pe wep Dwr? _ t (wi! + w) (a? + wa)? Le tw twp f * rlale) ds (wu +w)(a+w?)l? da a eeu oY eg -h Gran” Qa ‘Thus, the proof of the Theorem will be complete after we prove 37Proposition 2.3. There is an analytic 2n-periodic function v such that Lear’! if and only if I € (—2n,2n). Proof. Thé fact that I € (—21, 27) follows immediately since lezeyal<* For the construction of a function v such that the integral has value Te (—2n, 2m) we define for A € (—00, 00) (and w = v'(6)). oot Aw w= wry” and note that I depends continuously on A with 1(0) = 0. Since the integrand is bounded Lebesgue’s Dominated Convergence Theorem applies and we have in fin 10) = f/ sgn(w)d8=A-B where A denotes the length of the subset of [0,27] where w() > 0 and B denotes the length of the subset where w(9) < 0. Choose a continuous oe function g defined on [0,27] which satisfies (1) | gd0 =0, (2) 9(0) =0= g(2n), and (3) the length of the set where (8) > 0 is 2x — 6 for 6 > 0. Now, for any ¢ > 0 there is a trigonometric polynomial Q,(8) such that IQ. — gl| <. Thus, the function w, defined by 0.(0) = Qe 0-2 [oa Iw. = alser ef" (Q.= 9) d8| < 26. It follows that w.(9) > 9(0) — 2e. Thus, for ¢ > 0 sufficiently small w,(8) > 0 on a subset of [0,277] whose length exceeds 2x — 26. For this ¢ and w = we there is some A such that (A) = 2m — 26. Finally, we define v= [rupee 38 satisfiesIt follows at once from the definition of w, that v is analytic and 2x-periodic. In this way we obtain any I € (0,2n]. For the negative values of I simply note that I(—) = -I(X). o The embedding of the Mobius strip obtained in Theorem 2.2 was con- structed as a parametrized ruled developable surface of form F(s,u) = a(s) + wos) where the axis ais a smooth embedding of a circle. It is not clear that all flat embeddings of the Mébius strip can be obtained in this way. However, since any flat surface in R° is “locally ruled” (1, sec 5.8] a further investigation of the geometrical properties of embeddings of this type seems reasonable. In general the ruled developable surfaces can be quite complicated although in some sense they are all made up of sections of cones, cylinders and tangent developables (1, p. 195]. It would be interesting to classify the flat surfaces which can contain a Mdbius strip. For example an analytic Mébius strip cannot be embedded in a cylinder or a cone (although, taking the most general definition of a cylinder, the figure in the introduction indicates that a smooth Mébius strip can be embedded in a cylinder). Our next theorem shows the axis of a flat Mobius strip cannot be an arbitrary closed curve. Theorem 2.4. A smooth axis with nonzero curvature of a smooth ruled developable Mébius strip cannot lie in a plane. Proof. Let a be the axis and let F(s,u) = a(s) + w(s) be a parametrization of the Mébius strip (for s € R and |ul < ¢ for some > 0). Then ifw = pt-+-gn+rb according to the discussion preceding Propo- sition 2.1 there is a smooth function 6 satisfying the differential equation 0 = prsind +7 and the condition 0(s +) = 0(s) + (n+ 1)x for some integer n where T is the period of the function a. Now, if a is planar since « # 0 it follows immediately that r = 0. To complete the proof we will show this is impossible. In fact, for n > 0 there 39is a point sp such that r(so) > 0 and for n <0 there is a point so such that (so) < 0. We will prove this proposition for n = 0 all other cases are similar. Suppose r(s) < 0 for all s. There is a first point s, for which 0(s;) = =. Choose 5 > 81 50 that 0 < 6(s) In(esc 8(s0) + cot 6(s0)) ~ f[ (at. However, Jima In(ese (8) + cot ()) = —o0 and we have a contradiction. a ‘The next theorem shows that any space curve which does not lie in a plane is the axis of an embedding of the Mébius strip. ‘Theorem 2.5. Let a be a closed smooth (resp. analytic) curve with nonzero curvature and no self intersections. If a does not lie in a plane then a is the azis of a smooth (resp. analytic) ruled developable Mébius strip. Proof. Assume as usual that a : R + R° is parametrized by arc length and. is periodic of period T. Also, let + denote the torsion of a. Then, in view of Proposition 2.1 we must construct a smooth (resp. analytic) function 0 satisfying 6(s + T) = 0(s) + (2n + 1)7 for some integer n and such that the function J(s)= sind is smooth (resp. analytic). In order to construct @ we need the following lemma.Lemma 2.6. Suppose 8 > 7 and 8 > 0. Then, there is an even trigonomet- ric polynomial P(t) such that (1) f P(t) dt =0, (2) P(0) = and (3) P(t) < B for—n B for—n St 0 (resp. r(s0) < 0) for some 40, then there exists a function @ of the form y 6(8) = Fs ~ 80) + an cos(2nrs/T) nat N (resp. 6(5) = -He ~ 0) + aq c0s(2nns/T)) and a continuous function f satisfying fsind =6'—r. ALSuch an f satisfies f(s +T) = —f(s) and, in addition, if r is C® (resp. real analytic) then f is C° (resp. real analytic). ‘We will prove this proposition for the case 7(so) > 0; the other case is similar. Let 7(s9) = 6. By the lemma there is an even trigonometric x an 6 polynomial P satisfying (1) P(0) = zs (2) P(s) < max (Hp ee >) for s € Rand (3) / P(s)ds = 0, ie., P has no constant term. Suppose ~~ N P(s) = So an cosns and define = a(s) = T= 80) So Roan sntnn(e— 9/0. Then, (8) =F - Yom c0s(2nin(8 ~ 80)/T) Since (0) 2 F—max 9) =mi9 Ge 9) > 9 6 is an increasing function and @(so + wit) me for each integer m. Thus, we have sin 6(s) = 0 if and only if s = 9) + mT = 5,,. At these points x (5m) - -Yon= 7 — P(0) =6 =1(sm)- Now . O(s)—7(s) _ |, 6"(s) — 1'(s) sim nats) ~ oA (5) 008 8(s) = ayn =7e0) (50) by L’Hopital’s rule. Hence, if we define (3) =1(s) say om ant ) — 1(s0) ot 8m 42.then f is continuous and smooth if 7 is smooth. o In our proof of the existence of a flat Mdbius strip in R® we considered in Theorem 2.2 an embedding where the axis of the ruled surface was every- where orthogonal to the ruling. This assumption is quite restrictive on the global structure of the geometry of the embedding. As one example of this restriction we have Theorem 2.7. Let « be a closed smooth curve with nonvanishing curvature. Then a is an azis of a ruled developable Mébius strip with ruling everywhere orthogonal to o if and only if the total torsion of a is an odd multiple of 7. Proof. As usual if @ is an axis of a ruled developable Mébius strip we consider a parametrization of the surface in the form F(s,u) 5) + ws(s) where w(s) = pt +qn+rb. If « is the curvature and 7 the torsion of a, then as before there will be a solution @ of the differential equation 0 = pxsind +7 which satisfies 0(s +7) = 6(s) + (2n + 1)m for an integer n where T' is the period of a. But, since a is orthogonal to the ruling p = 0 and @ is actually a solution of @ =r. ‘Thus, the total torsion is T i 1(s) ds = (an-+ 1)m. 0 On the other hand if the total torsion is an odd multiple of 1 the proof of ‘Theorem 2.2 shows there is a ruled developable Mabius strip of the required form. a 3 The Total Torsion of Space Curves ‘This section is independent from the first part of the paper; it was in- spired by the calculation for the total torsion of the space curve a(8) = 43(acos#,asin0, v(8)) lying on the surface of a circular cylinder. We develop an apparently new formula for the total torsion of a closed space curve, Let a = a(s), 0< s < L denote an analytic space curve parametrized by arc length. We do not as yet suppose a is closed. However, we do assume throughout that the curvature of o never vanishes. Then the tangent curve t= a! describes an analytic curve on the surface of the unit sphere and ¢' is never zero. We select a point P on the sphere so that t(s) never visits either P or its antipode; then select coordinates so that P is the north pole, i.e., P = (0,0,1). With respect to these coordinates we write F(s);9(s), h(s)) : (u(s), u(s), w(s)). Define the unit vector 7 = (0,0,1) and N = tx n = (v,—u,0). Then (tn, N) is a moving frame along a which is not orthonormal. However, we have txq=N, txN=ut-n, 1xN=t-un and the corresponding “Frenet” equations t =—fwt + Bn+cN 0 —ct + cwn ~ BwN where Here, w? # 1 for all s by the hypothesis on P. Thus, both fractions have nonvanishing denominators. Proposition 3.1. For the curve a the curvature « and the torsion r are given by . (Peavy? k Be-eB Prat where, since k > 0, 6? +c? never vanishes. 44Proof. Itis helpful to compute |t| = |7| = 1, (t, N) = 0, (t,n) = w, (n, N) =0 and ||? = 1—w*. Next, express the usual Frenet frame in terms of (t,7, N) to obtain t kn = —Bwt + 6n+cN nb = cwt — on + BN. Then x? is just the length of —Swt + 6 +cN. To compute 7, differentiate xb and then solve for r = (b',n). Oo The tangent curve t = (u,v,w) in spherical coordinates is given by u=sin ¢cosd v=singsing w=cosd where ¢ = (8), 6 = (s) for 0 < s < L and 0 < 4(s) < x for all s. Moreover, we compute ¢ B= -(csod)o'. Now suppose ¢(s) parametrizes a closed curve I’ on the sphere, ive., ¢(L) = +(0); this happens in particular if a is closed. We identify the sphere (mi- nus the antipode of P) with the plane by stereographic projection onto the tangent plane at P so that (2tan($/2), 6) are polar coordinates in the plane. Using this identification we define the rotation index IndT and the wind- ing number n(T,Q) of with respect to any point Q on the sphere. In particular we define n(T,Q) = 0 when Q is the antipode of P. As de- fined both the rotation index and the winding number depend on the choice of pole and the orientation of the sphere. However, the differential form (2n(L, Q) - Ind) dA defined on © = S?\T’ where dA denotes the (oriented) area element does not depend on either the choice of pole or the orientation of the sphere. This is easy to see after checking that the integer valued func- tion 2n(T,Q) — IndT’ does not depend on the choice of pole. For Q € T we define 2n(I, Q) — IndT = 0. 45Theorem 3.2. Under the hypotheses described above the total torsion of a is given by , [ 1(s)ds = o Proof. We first compute f 2n(P,Q) — Ind Pd. Isa 1a [Bere8 1" |) Pre ds. To do this let I’, be the plane curve with polar coordinates r = 4(s), 0 = 6(s). Since T; is just a radial rescaling of the stereographic projection of T we have IndP = Ind? n(0y,0) = n(F, P). Now IndTy = n(P,, 0) = n(U, 0) where I’ is the plane curve with Cartesian coordinates (¢', 6’). In effect, if wp is the angle between the radius vector and the tangent vector and if a is the angle the tangent vector makes with the horizontal axis then $ = 0 — 0. But, since 0 < 4(s) <7 for all s we have n('2,0) = n(Ps, 0) ‘where I’ is the plane curve with Cartesiam coordinates ((csc ¢)¢", 6’) i.e. the curve (~8,—c). Thus, 1, = 2n(n(0, P) ~ Ind). Next we compute L L =f weds =~ [ w0' ds fo which we recognize as a line integral so that [oda =— [cosa 46, h=We claim h -[ n(P,Q)dA — 2an(P, P) B To show this formula is valid for any piecewise analytic closed curve Tit is only necessary to establish it for a simple closed curve; the general case follows by induction on the number of components of 2. So, suppose Tis a simple closed.curve. Then, 2 has two components Ry and Re. If n(P', P) =0 let R, be the component which corresponds to the bounded component. of the plane curve I, given in polar coordinates by (4,8). We apply Green’s ‘Theorem to obtain = [owed =m ff sin dg dd Ir Ra, where n, = +1 is the constant value of n(I’,Q) for Q € Ri. It follows that ihe f n(0,Q)dA. s2 If n(P,, P) # 0 we apply Green's Theorem by modifying I’ in the usual way to be the boundary curve of a slit annular region with inner boundary a small circle P(r) of radius r around P. Then, we obtain kim (rf oooa) ~ [cospao =f m(r,Q)aa, Thus, in either case, h= f n(P,Q)dA — 2nn(P, P). Finally, 47‘To offer some applications of Theorem 3.2 we first suppose I’, the tangent curve of the closed space curve @, is a simple closed curve on the sphere which is positively oriented with respect to the north pole P. Then, I’ separates the sphere into two components R; and Rp. Assume P € R, so that IndT = 1, n(P,Q) = 1 for Q € R, and n(P,Q) = 0 for Q € Ry. We obtain L [ rds = Area Ry — 2 = F(Area Ry eh) 0 and, therefore, L -2n 0. We have ; 3 Ind 'dA = 20 Ind = 2nn(T, P) 2s, + [ rds =f n(T',Q) dA — 2nn(P, P). ‘O Ss? But, o< f, n(P,Q)dA < f n(U,P)dA = 4nn(P, P) since n(I',Q) < n(P, P) for all Q and n(I’,Q) = 0 on a component of S*\I. Hence, 1“ ~2|tnar} < [ rds < 2n|Ind]. 7 48When n(P, P) <0 a similar argument shows the same inequality holds. Of course, IndT may be replaced in this inequality by either n(I, P) or Ind 7. ‘We have proved the following fact. Corollary 3.3. Ifa is a cylindrical curve and if the curvature of its plane projection y does not change sign then the absolute value of its total torsion is bounded by 2n| Ind 7]. Finally, we mention some problems which arise naturally from our consid- erations. (1) Find an analytic closed space curve with no self intersections, nonvanishing curvature and torsion everywhere positive. (2) Find necessary and sufficient conditions for T-periodic functions « and 7 to be the curvature and torsion of an (analytic) closed space curve (without self intersections). This problem seems to have been first formulated by Fenchel [2]. In this regard recall that the theorems of Fenchel and Fary-Milnor [1] that the total curvature of a closed space curve is greater than or equal to 27 and greater than or equal to 4m if it is knotted provide necessary conditions for x to be the curvature of a closed space curve. (3) Formulate, using continuum mechanics, physical models for the shape of an elastic strip which is twisted into a Mobius strip with the ends welded together and find the possible con- figurations which the model predicts [5], (6] and [7]. For some mathematical background see Truesdell’s survey {7}. (4) Exhibit explicit “simple” examples of the embeddings shown to exist by Theorem 2.2 and Theorem 2.5. References [1] MP. do Carmo, Differential Geometry of Curves and Surfaces, Prentice-Hall, Englewood Cliffs, New Jersey, 1976. [2] W. Fenchel, On the Differential Geometry of Closed Space Curves, Bull. Amer. Math. Soc., 57 (1951) 44-54. [3] N.J. Hicks, Notes on Differential Geometry, D. Van Nostrand Com- pany, Princeton, New Jersey, 1965. [4] R.L. Milman and G.D. Parker, Elements of Differential Geometry, Prentice Hall, Englewood Cliffs, 1977. [5] M. Sadowsky, Bin elementarer Beulis fir die Existence eines abwick- elbaren Mébiusschen Bandes und Zuriickfuhrung des geomtrischen 49Problems auf ein Variations problem, Sitzgsker. Preuss. Akad. Wiss. 22 (1930), 412-415. [6] M. Sadowsky, Theorie der elastisch biegsamen undehnbaren Bander mit Anwendungen auf der Mébiussche Band, Verh. 3, Intern. Kongr. Techn. Mechanik (Stockholm 1930), II, 444-451. [7] C. Truesdell, The Influence of Elasticity on Analysis: The Classical Heritage, Bull. Amer. Math. Soc. 9 (1983) 293-310. [8] W. Wunderlich, Uber ein abwickelbares Mébiusband, Monatshefte Fir Mathematik, 66 (1962), 276-289. Accepied October 2001 50