MATH F342 (Differential Geometry) Dr. Sangita Yadav Department of Mathematics BITS Pilani, Pilani Campus, Rajasthan

MATH F342 (Differential Geometry)
Dr. Sangita Yadav

Department of Mathematics
BITS Pilani
Pilani Campus BITS Pilani, Pilani Campus, Rajasthan
Lecture 28
March 04, 2024
Dr. Sangita Yadav (BITS Pilani) MATH F342 (Differential Geometry) March 7, 2024 2 / 31
Example
A Liouville surface is a surface with
1st Fundamental
form (φ(u) + ψ(v)) du2 + dv 2 after a parametric
transformation.
Prove that any surface locally isometric to a surface of
revolution is a Liouville surface.
Example
A Liouville surface is a surface with
1st Fundamental
form (φ(u) + ψ(v)) du2 + dv 2 after a parametric
transformation.
Prove that any surface locally isometric to a surface of
revolution is a Liouville surface.
Sol. The surface has 1 st FF

f ′ (u)2 + g ′ (u)2 du2 + f (u)2 dv 2 .

Consider the parametric transformation

u = h (v ∗ ) , v = u∗ .
The new 1 st FF has matrix
0 h′ (v ∗ ) f ′ (h(v ∗ ))2 + g ′ (h(v ∗ ))2

0 0 1
1 0 0 f (h(v ∗ ))2 h′ (v ∗ ) 0
f (h(v ∗ ))2 h′ (v ∗ )2

0
=
0 f ′ (h(v ∗ ))2 + g ′ (h(v ∗ ))2
Equating both diagonal entries, we get a differential equation for
h (v ∗ ). For the solution h (v ∗ ) , 1st F F has equal coefficients which
is a function of v ∗ alone. (i.e., φ (u∗ ) = 0. )
Section 2.15
Intrinsic Properties
Properties expressible in terms of 1st fundamental
coefficients are called intrinsic properties.
Isometric surfaces have same intrinsic properties, as they
have same 1st F F .
As surfaces are isometric if and only if corresponding
curves have same length, these properties can be
determined by the data of lengths of all curves on the
surface. As they can be determined by only remaining on
surface without any reference to outer space, they are
called intrinsic properties. If an intrinsic property is not
shared by two surfaces, they are not isometric.
Isometric surfaces have same intrinsic properties, as they
have same 1st F F .
As surfaces are isometric if and only if corresponding
curves have same length, these properties can be
determined by the data of lengths of all curves on the
surface. As they can be determined by only remaining on
surface without any reference to outer space, they are
called intrinsic properties. If an intrinsic property is not
shared by two surfaces, they are not isometric.
Unit normal is not intrinsic.
Conformal Mappings
Two surfaces S and S ′ are said to be conformally
mapped to each other if there is a differentiable
homeomorphism preserving the angle between any two
intersecting curves.
As angle between curves is determined by 1st FF,
isometric surfaces are conformally mapped to each other.
Converse is not true.
Conformal Mappings
Two surfaces S and S ′ are said to be conformally
mapped to each other if there is a differentiable
homeomorphism preserving the angle between any two
intersecting curves.
As angle between curves is determined by 1st FF,
isometric surfaces are conformally mapped to each other.
Converse is not true.
Theorem
Two surfaces are conformally mapped to each other if
and only if there is a function ω(u, v) such that
E = ωE ′ , F = ωF ′ , G = ωG′ everywhere, i.e. 1st FFs
are proportional.
Example : Stereographic projection of a sphere on to
equatorial plane is conformal but not isometry.
Verify that the map is givem by:
u2 + v 2 − 1

2u 2v
f (u, v, 0) = , ,
u2 + v 2 + 1 u2 + v 2 + 1 u2 + v 2 + 1
1st FFs of ⃗r(u, v) = (u, v, 0) and f ◦ ⃗r are proportional

2
(u2 +v2 +1)
with ω(u, v) = 4 .
Equi-Areal Maps
Definition
A correspondence from S to S ′ is called equiareal if it
preserves the area of regions. This happens if and
only if EG − F 2 is preserved.
Equi-Areal Maps
Definition
A correspondence from S to S ′ is called equiareal if it
preserves the area of regions. This happens if and
only if EG − F 2 is preserved.
Thus every isometry is equi-areal, but not conversely.
Example
Archmedes Map: Consider the map from sphere to
cylinder given by !
x y
f (x, y, z) = p ,p ,z .
x2 + y 2 x2 + y 2
f is equi-areal but not isometric.
Lecture 29
March 05, 2024
Using the first fundamental form, we can not distinguish
between isometric surfaces.
For example, we can’t distinguish between plane and
cylinder, notwithstanding that one is flat but the other
isn’t.
Using the first fundamental form, we can not distinguish
between isometric surfaces.
For example, we can’t distinguish between plane and
cylinder, notwithstanding that one is flat but the other
isn’t.
Thus the curvature properties of surfaces are not
captured by first fundamental form completely. (They
can be captured to some extent, as we will see)
For this we require more information, which is not
intrinsic. We need to also take into account the
surrounding space.
How fast does surface turn?
Moving triad (or coordinate frame) of a surface :

Just as for curves we use (⃗t, ⃗n, ⃗b) frame to study
curvature, for surface we use (N ⃗ , ⃗r1 , ⃗r2 ) frame (even
though they are not orthonormal). We are interested in
how this frame turns as we move along the surface. This
turning is with respect to the frame of 3-D space, hence
not intrinsic.
How fast does surface turn?
Moving triad (or coordinate frame) of a surface :

Just as for curves we use (⃗t, ⃗n, ⃗b) frame to study
curvature, for surface we use (N ⃗ , ⃗r1 , ⃗r2 ) frame (even
though they are not orthonormal). We are interested in
how this frame turns as we move along the surface. This
turning is with respect to the frame of 3-D space, hence
not intrinsic.
Ques. To what extent can we capture this turning using
only the first Fundamental form?
Section 3.10 : Geodesic curvature
To see how the surface is turning, we start moving on

surface, along a curve ⃗r(s) with arc length parameter s.
The curve may be turning itself. The r ate of its turning
w.r.t arc length is its curvature : κ = |⃗r ′′ (s0 )| at the
point P = ⃗r(s0 ).
We can resolve ⃗r ′′ (s0 ) along this moving frame:
⃗ (s0 ) + λ⃗r1 (s0 ) + µ⃗r2 (s0 ).

⃗r ′′ (s0 ) = κn N
Normal and Geodesic Curvatures :
Definition
The component κN of ⃗r ′′ (s) in the direction of N ⃗ is
called the normal curvature of ⃗r(s) at P . The (tangent)
vector λ⃗r1 (s0 ) + µ⃗r2 (s0 ) = (λ, µ) is called the geodesic
curvature vector of ⃗r(s) at P and denoted by K ⃗ g.
Normal curvature measures the rate at which the curve is

turning in the direction of the unit surface normal N ⃗,
alternatively it measures the rate at which we move away
from the tangent plane along ⃗r(s). Geodesic curvature
gives direction as well as rate of turning within the
tangent plane as we move on ⃗r(s).
Lecture 30
March 07, 2024
Theorem
The geodesic curvature vector is orthogonal to the curve.

Proof : κn N⃗ · ⃗t = 0 and ⃗r ′′ · ⃗t = 0. Hence ⃗r ′′ − κn N⃗ · ⃗t = 0.
Since the geodesic curvature vector is also orthogonal to
⃗ , it is parallel to ⃗t × N
N ⃗.
Theorem
The geodesic curvature vector is orthogonal to the curve.

Proof : κn N⃗ · ⃗t = 0 and ⃗r ′′ · ⃗t = 0. Hence ⃗r ′′ − κn N⃗ · ⃗t = 0.
Since the geodesic curvature vector is also orthogonal to
⃗ , it is parallel to ⃗t × N
N ⃗.
Definition
The geodesic curvature of the curve ⃗r(s) on the surface
at P is defined as ± (the magnitude of the geodesic
curvature vector) and denoted by κg . (sign is chosen + if
⃗ g, N
⃗r ′ , K ⃗ form a right handed system).
Thus
p
⃗ g = ± Eλ2 + 2F λµ + Gµ2
κg = ± K
q
and κ = κN 2 + κg 2 .
Homework
Prove the following
1 κg = [N⃗ , ⃗r ′ , ⃗r ′′ ].
2 κg = ṡ−3 [N ⃗ , ⃗r˙, ⃗r¨ ].
3 κg = ṡ3 H −1 [(⃗r1 · ⃗r˙ )(⃗r2 · ⃗r¨) − (⃗r2 · ⃗r˙ )(⃗r1 · ⃗r¨) ]
Theorem
The geodesic curvature vector is intrinsic.
We will not give complete proof of the theorem, but will
give formulas for (λ, µ) in terms of E, F, G without
proof. First we give their expression in terms of
quantities called Christoffel coefficients of 2nd kind and
later give expressions for Christoffel coefficients of 2nd
kind in terms of E, F, G. (see sec. 3.6, p. 189 and sec.
3.10 Theorem 5 on p. 204 of the text book).
Geodesic curvature vector in terms of Christoffel
coefficients of 2nd kind : Let (u(s), v(s)) be the curve
in U mapped to ⃗r(s).
λ = u′′ + Γ111 u′2 + 2Γ112 u′ v ′ + Γ122 v ′2

µ = u′′ + Γ211 u′2 + 2Γ212 u′ v ′ + Γ222 v ′2
where Γkij , i, j, k ∈ {1, 2} are Christoffel coefficients of S

of 2nd kind.
Christoffel coefficients of 2nd kind

1
−2 1
Γ111 =H GE1 − F F1 − E2
2 2

1 1
= H −2 GE1 − F F1 + F E2 ,
2 2

1 1
Γ112 = H −2 GE2 − F G1 ,
2 2

1 1
Γ122 = H −2 G(F2 − G1 ) − F G2
2 2

1 1
= H −2 GF2 − GG1 − F G2 ,
2 2
Christoffel coefficients of 2nd kind

−2 1 1
Γ211 =H E F1 − E2 − F E1
2 2

−2 1 1
=H EF1 − EE2 − F E1 ,
2 2

1 1
Γ212 = H −2 EG1 − F E2 ,
2 2

−2 1 1
Γ222 =H EG2 − F F2 − G1
2 2

−2 1 1
=H EG2 − F F2 + F G1 ,
2 2
Here Ei , Fi , Gi denote the partial of E, F , G wrt ith

parameter.
Chapter 4
Second Fundamental Form
To study non-intrinsic properties of the surface, we need
tools other than first Fundamental form.
To study non-intrinsic properties of the surface, we need
tools other than first Fundamental form.
The first fundamental form relates properties about
measurement. Though it was enough to describe
geodesic curvature, to study normal curvature we
introduce the second fundamental form.
Definition
The quadratic form II = Ldu2 + 2M dudv + N dv 2 is
called the second fundamental form where
L=N ⃗ · ⃗r11 , M = N
⃗ · ⃗r12 , N = N
⃗ · ⃗r22
are called the 2nd fundamental coefficients.
You need to distinguish between N ⃗ and N .
Remark
L, M , N are not intrinsic. It means we can have two
surfaces which are isometric but corresponding
parameterizations have different L, M , N .
Example
Let ⃗r(u, v) = (u, v, 0); (u, v) ∈ U = (0, 2π) × (0, 1) be a
parametrization of a plane and
⃗r ∗ (u, v) = (cos u, sin u, v); (u, v) ∈ U . The map
f (u, v, 0) = (cos u, sin u, v)
between the plane and cylinder is an isometry.
Compute the second fundamental coefficients of both
the surfaces
For the plane
⃗r1 = (1, 0, 0) and ⃗r2 = (0, 1, ).
Thus ⃗r11 = ⃗r12 = ⃗r22 = ⃗0. Consequently
L = M = N = 0.
For the cylinder
⃗r1∗ = (− sin u, cos u, 0) and ⃗r2∗ = (0, 0, 1).
∗
Therefore ⃗r11 ∗
= (− cos u, − sin u, 0), ⃗r12 ∗
= ⃗r22 = ⃗0 and
⃗ ∗ = (cos u, sin u, 0). Hence
N
⃗ ∗ · ⃗r11
L∗ = N ∗
= −1, M ∗ = N ∗ = 0.
Formula Of Normal Curvature
Theorem
Normal curvature along curve ⃗r(s) on the surface is
Ldu2 + 2M dudv + N dv 2
κn =
Edu2 + 2F dudv + Gdv 2
Proof: We have seen that for a curve ⃗r(s) with arc
length parameter s,
⃗ +K
⃗r,′′ (s) = κn N ⃗g
⃗ ·K
Since N ⃗ g = 0, κn = N
⃗ · ⃗r ′′ (s)
Now, as ⃗r(s) = ⃗r(u(s), v(s)).
∴ ⃗r ′ (s) =⃗r1 (u(s), v(s))u′ (s) + ⃗r2 (u(s), v(s))v ′ (s)
and ⃗r ′′ (s) =⃗r1 (u(s), v(s))u′′ (s) + ⃗r2 (u(s), v(s))v′′ (s)
+ (⃗r11 (u(s), v(s))u′ (s) + ⃗r12 (u(s), v(s))v ′ (s)) u′ (s)
+ (⃗r21 (u(s), v(s))u′ (s) + ⃗r22 (u(s), v(s))v ′ (s)) v ′ (s).
⃗ · ⃗ri = 0 for i = 1, 2 , and mixed partials are equal,

As N
2 2
du
⃗ · ⃗r ′′ (s) = L du dv du
κn = N + 2M +N
ds ds ds ds
2 2
Ldu + 2M dudv + N dv
= .
ds2
Remark
If point P = ⃗r (u0 , v0 ) is fixed, so are L (u0 , v0 ), M (u0 , v0 ),
N (u0 , v0 ). Then κn is completely determined by the
du dv

direction coefficients ds , ds of the tangent vector;
2 2
du du dv du
κn = L + 2M +N .
ds ds ds ds
Thus if two curve share the tangent vector at P , they
have same κn at P . Hence the role of the tangent
direction is more important than the curve itself.
This also illustrates the importance of 2nd fundamental
form in the determination of normal curvature. The 1st
fundamental form also plays a role if direction ratios of
the tangent vector is used instead of its direction
coefficients.
2nd FF of a surface of revolution :
⃗r(u, v) = (g(u) cos v, g(u) sin v, f (u))
∴ ⃗r1 = (g ′ (u) cos v, g ′ (u) sin v, f ′ (u))
⃗r2 = (−g(u) sin v, g(u) cos v, 0)
∴ E = f ′2 (u) + g ′2 (u), F = 0, G = g 2 (u)
⃗r11 = (g ′′ (u) cos v, g ′′ (u) sin v, f ′′ (u))
⃗r12 = (−g ′ (u) sin v, g ′ (u) cos v, 0)
⃗r22 = (−g(u) cos v, −g(u) sin v, 0).
⃗ = ⃗r1 × ⃗r2 = p
N
1
(−f ′ (u) cos v, −f ′ (u) sin v, g ′ (u))
|⃗r1 × ⃗r2 | ′2 ′2
f (u) + g (u)
∴ 2nd fundamental form is
1 ′
(g (u)f ′′ (u) − f ′ (u)g ′′ (u)) du2 + g(u)f ′ (u)dv 2

p
f ′2 (u) + g ′2 (u)
Special Cases
1 Plane : g(u) = u, f (u) = 0.
Special Cases
1 Plane : g(u) = u, f (u) = 0. II = 0.
Special Cases
1 Plane : g(u) = u, f (u) = 0. II = 0.
2 Circular Cylinder : g(u) = 1, f (u) = u.
Special Cases
1 Plane : g(u) = u, f (u) = 0. II = 0.
2 Circular Cylinder : g(u) = 1, f (u) = u. II = dv 2 .
Special Cases
1 Plane : g(u) = u, f (u) = 0. II = 0.
3 Circular Cone: g(u) = u, f (u) = u.
Special Cases
1 Plane : g(u) = u, f (u) = 0. II = 0.
2
3 Circular Cone: g(u) = u, f (u) = u. II = udv√ .
2
Special Cases
1 Plane : g(u) = u, f (u) = 0. II = 0.
2
2
4 Sphere: g(u) = cos u, f (u) = sin u
Special Cases
1 Plane : g(u) = u, f (u) = 0. II = 0.
2
2
II = du2 + cos2 (u)dv 2 .
Special Cases
1 Plane : g(u) = u, f (u) = 0. II = 0.
2
2
5 Anchor ring : g(u) = a + b cos(u), f (u) = b sin(u).
Special Cases
1 Plane : g(u) = u, f (u) = 0. II = 0.
2
2
Special Cases
1 Plane : g(u) = u, f (u) = 0. II = 0.
2
2
II = bdu2 + (a + b cos(u)) cos(u)dv 2 .
Special Cases
1 Plane : g(u) = u, f (u) = 0. II = 0.
2
2
II = bdu2 + (a + b cos(u)) cos(u)dv 2 .
Thanks for your
attention!

MATH F342 (Differential Geometry) Dr. Sangita Yadav Department of Mathematics BITS Pilani, Pilani Campus, Rajasthan

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MATH F342 (Differential Geometry)

Dr. Sangita Yadav

Sol. The surface has 1 st FF

Consider the parametric transformation

1st FFs of ⃗r(u, v) = (u, v, 0) and f ◦ ⃗r are proportional

Moving triad (or coordinate frame) of a surface :

Moving triad (or coordinate frame) of a surface :

To see how the surface is turning, we start moving on

⃗ (s0 ) + λ⃗r1 (s0 ) + µ⃗r2 (s0 ).

Normal curvature measures the rate at which the curve is

λ = u′′ + Γ111 u′2 + 2Γ112 u′ v ′ + Γ122 v ′2

where Γkij , i, j, k ∈ {1, 2} are Christoffel coefficients of S

Here Ei , Fi , Gi denote the partial of E, F , G wrt ith

⃗ · ⃗ri = 0 for i = 1, 2 , and mixed partials are equal,

II = du2 + cos2 (u)dv 2 .

II = du2 + cos2 (u)dv 2 .

5 Anchor ring : g(u) = a + b cos(u), f (u) = b sin(u).

II = du2 + cos2 (u)dv 2 .

5 Anchor ring : g(u) = a + b cos(u), f (u) = b sin(u).

II = du2 + cos2 (u)dv 2 .

5 Anchor ring : g(u) = a + b cos(u), f (u) = b sin(u).

II = bdu2 + (a + b cos(u)) cos(u)dv 2 .

II = du2 + cos2 (u)dv 2 .

5 Anchor ring : g(u) = a + b cos(u), f (u) = b sin(u).

II = bdu2 + (a + b cos(u)) cos(u)dv 2 .

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