Algad
Algad
1.1
Angles:
1. the angle between two lines (d1 ) and (d2 ) is the angle between their
directing vectors v1 and v2 ; and its cosine can be obtained by means of
the dot product v1 v2 :
cos
v1 v2
:
kv1 k kv2 k
2. the angle between a line and a plane is equal to 90o minus the angle
between the directing vector v of the line and the normal vector N of the
plane:
v N
cos(90o
) = sin =
:
kvk N
3. the angle between two planes is the same as the angle between their
normal vectors N1 and N2 :
cos
1.2
N1 N2
:
N1
N2
Distances in space
1. the distance between two points A and B is, by denition, the norm
!
of the vector AB; that is:
p
!
dist(A; B) = AB = (xB xA )2 + (yB yA )2 + (zB zA )2 :
x x1
2. the distance between a point M (x0 ; y0 ; z0 ) and a line (d) :
=
l
y y1
z z1
=
is expressed as the altitude in the parallelogram built on
m
n
the vectors M M 1 and v(l; m; n) (where M1 (x1 ; y1 ; z1 ) denotes a point on
the line):
MM1 v
:
dist(M; d) =
kvk
distance point-line
1
dist((d1 ); (d2 )) =
x
y
z
= =
and ( ) : 4x + 3z
1
2
2
1=
1)
: x+
1)
1)
: x+y +z =
and
x
1
z
is
1
x
y
z
=
=
1
1
1
(Hint: nd the reections of two conveniently chosen points on Ox in the line
(d)).
Exercise 6 (*) Find the straight line which is perpendicular to both the lines Oz
x 2
y+1
z
and (d) :
=
=
and intersects them (the common perpendicular
1
3
4
of the lines Oz and (d)).
Let (V; +;
K)
V a set of vectors.
1 u1
+ :::: +
n un ;
2 K; ui 2 U ;
1 ; ::;
= ::: =
K)
V is linearly independent ()
Let (V; +;
K)
be a vector space.
Denition 6 A subset B =
6 ? of V is called a basis of V if:
1. B is linearly independent;
2. B spans the entire space V : any v 2 V can be written as a nite linear
combination of elements of B :
v=
where e1 ; :::; en 2 B;
1 ; :::;
1 e1
+ ::: +
n en ;
2 K:
which is, (
1 ; ::::;
n)
1 e1
+ :::: +
+ :::: +
n en
n (0; 0; ::::; 1)
= 0 means:
= 0;
basis
spanning set.
(1)
Exercise 9 Prove that the vectors u = (1; 0; 0); v = (1; 2; 0) and w = (1; 2; 3)
yield a basis of R3 : (Indication: prove that they are linearly independent+the
number of vectors equals the dimension of the space).
The most important property of a basis is the following:
Theorem 10 Let (V; +; K ) be a nite-dimensional vector space and B = fe1 ; e2 ; :::; en g
a basis of V: Then any vector x 2 V admits a unique representation:
x = x1 e1 + x2 e2 + ::: + xn en ;
(2)
with x1 ; :::; xn 2 K (scalars). The scalars x1 ; :::; xn are called the coordinates
of x with respect to the basis B (in the basis B).
Proof. Let x 2 V be arbitrary. The "spanning property" in the denition
of a basis insures the existence of the scalars x1 ; :::; xn 2 K such that x =
x1 e1 + x2 e2 + ::: + xn en :
Let us prove the uniqueness of this representation: let x01 ; ::::; x0n 2 K be
another set of scalars with x = x01 e1 + x02 e2 + ::: + x0n en :
By subtracting the above equalities, we are led to:
0 = (x1
x0n )en :
x01 = ::: = xn
x0n = 0;
Once the basis B is xed, the column matrix having as entries the coordinates
of some vector x 2 V in the basis B;
0
1
x1
B x2 C
B
C
X=B . C
@ .. A
xn
Changes of bases
Let (V; +;
K)
B = fe1 ; ::::; en g;
xn
In order to answer this question, let us decompose, one by one, the vectors
of the "new" basis B 0 in terms of the basis B: We get:
e01
e02
e0n
n
X
x0j e0j =
j=1
n
P
j=1
n
X
j=1
n
P
x0j
n
X
sij ei
i=1
n
X
i=1
0
@
n
X
j=1
sij x0j A ei :
i=1
X:
Exercise 12 Let B1 = fe1 = (1; 1; 1); e2 = (1; 1; 0); e3 = (1; 2; 3)g and B2 =
fe01 = (0; 1; 1); e02 = (1; 0; 0); e03 = (3; 2; 1)g
1. Show that B1 and B2 are bases of R3 :
2. Find the expression of the vector x = (2; 2; 1) in the bases B1 and B2 :
S
3. Find the matrix of change B1 ! B2 and check, for the vector x above, the
relation X = SX 0 :
4. Find the matrices of change from the standard basis B to B1 and B2 : What
do you notice? Why?
K)
2 K; 8x; y 2 V:
(3)
Conic Sections
1.1
Conic sections (or, simply, conics) can be dened in at least three ways. As
for us, we shall regard them for the beginning as plane algebraic curves whose
equations are of degree 2. This is, a conic is a plane curve whose equation is of
the form
a11 x2 + 2a12 xy + a22 y 2 + 2a13 x + 2a23 y + a33 = 0;
where aij 2 R; i; j = 1; :::; 3; where at least one of the coe cients a11 ; a12 ; a22
is nonvanishing.
Let us dene two quantities related to a conic:
the determinant
:
a11
a12
a13
a12
a22
a23
a13
a23
a33
:
=
a11
a12
a12
a22
obtained by "cutting" the last line and the last column from : The sign
of determines the so-called class of the conic section. Namely:
1. if
2. if
3. if
0
3
2
1
2x + 4y + 1 = 0: We have
3
2
4
49
6= 0;
4
0
3
2
3
2
4
9
< 0;
4
y2
x2
+
a2
b2
2. the hyperbola
x2
a2
1 = 0:
y2
b2
1 = 0:
x2
y2
+
+ 1 = 0 b) y 2 =
a2
b2
1:
x2
y2
+ 2 = 0 (the point O(0; 0)).
2
a
b
x2
a2
x
a
y2
x
y
= 0 (the union of two intersecting lines:
+ = 0 and
b2
a
b
y
= 0);
b
and
the conics 1)-4a) are nondegenerate, while the conics 4b)-8) are degenerate;
the conics 1),4a), and 5) belong to the class of ellipses, 2) and 6) to the
one of hyperbolas, while 3). 7) and 8) belong to the class of parabolas.
The above examples might seem at rst sight nothing but some very simple
"naive" examples of conics. Actually, they are the only plane geometric shapes
described by second degree equations. And this is why:
Theorem 2 For any plane curve whose equation is of degree 2:
a11 x2 + 2a12 xy + a22 y 2 + 2a13 x + 2a23 y + a33 = 0;
there exists a transformation of Cartesian frames fO; {; jg ! fO0 ; {0 ; j 0 g which
transforms its equation into one of the equations 1)-8). The obtained equation
1)-8) is called the standard form (or the reduced canonical form) of the
conic.
2
Moreover, a nondegenerate (and dierent from the empty set) conic belonging to the hyperbola class is actually a hyperbola, a nondegenerate conic of
parabola class is always a parabola, and a nondegenerate conic of ellipse class
is an ellipse.
1.2
Conic sections are the curves generated by the intersections of a plane with a
right circular cone (hence, their name). If the plane is perpendicular to the axis
of the cone, one obtains a circle. For a plane that is not perpendicular to the
axis and that intersects only a single nappe of the cone, the curve produced is
either an ellipse or a parabola. The curve produced by a plane intersecting both
nappes is a hyperbola. Degenerate conics can be obtained in a similar manner.
0.1
(1)
Let us notice, for the beginning, that standard forms 1)-8) are particular
types of equations of conics, in which:
there is no xy term;
with the exception of the parabola y 2 = 2px; there is no term of degree 1.
This is, we have to "get rid" of the term xy and, as far as possible, of the
terms of degree 1. The rst aim can be attained by a rotation, while, for the
second one, a translation would su ce.
Step 1: rotation f0; {; jg ! fO; {0 ; j 0 g; (x; y) ! (x0 ; y 0 ):
Aim - to get rid of the xy term from the equation (1).
If a12 = 0; this step becomes unnecessary and we can pass directly to step
2.
That is, we are looking for an orthonormal basis f{0 ; j 0 g; in which the equation of the conic looks like this:
0 2
1 (x )
2 (y
0 2
By direct computation, it can be shown that the necessary angle of rotation 2 [0; ] is given by
2
tan 2 =
2a12
:
a11 a22
(2)
Remarks: 1) Since tan = tan( + ); relation (2) will always give two
solutions in the interval [0; 2 ): By convention, we choose 2 [0; ]:
2
2) If a11 a22 = 0; then in the expression of tan 2 we have a division by 0,
meaning that 2 = .
2
Exercise 1 (*): Prove that relation (2) holds true.
Indication: replace x; y from the equations of the rotation of angle
x
y
cos
sin
sin
cos
x0
y0
into equation (1) and impose the condition that the coe cient of x0 y 0 should
vanish.
1. If the angle
Remark 2
sign(
2)
; then
= sign(a12 ):
Exercise 3 (*) Prove the above relation (by using the expressions of
obtained in the previous exercise).
and
I + = 0;
0 2
1 (x )
2 (y
0 2
(x0 + x0 ) ;
2 (y
+ y0 )2 :
This is:
( ):
"
(x0 )2 +
2a013 x0
1
+a033
(a013 )2
2
( 1)
(a013 )2
"
(y 0 )2 +
(a023 )2
2a023 x0
a013
a023
a013
; Y = y0 +
a0033 = a033
(a023 )2
2
2Y
+ a0033 = 0;
a023
2
2)
=0
1X
(a023 )2
(3)
6xy +
9
3
10
3
1
0
10
0
0
100 6= 0;
9
3
3
1
= 0;
)
Now, from cos 2 =
sin2 2
cos2 2
1
cos2 2
9
j +1
16
25
=
) cos 2 =
16
4
; we get cos ; sin
5
cos 2 = 1
2 sin2
4
:
5
= 2 cos2
1:
From the above relations (and taking into account that for
0), we get:
cos
The matrix of rotation is:
1
= p ; sin
10
0
1
p
B 10
S=@ 3
p
10
3
=p
10
3 1
p
10 C
A
1
p
10
1
p (x0 3y 0 )
10
1
p (3x0 + y 0 ):
10
3
; sin ; cos
3y 0 ) = 0;
3y 0 ) = 0:
Step 2: translation
Since (x0 )2 is missing from the equation, we shall proceed to grouping only
the terms in y 0 in order to obtain the square of a binomial, and the remaining
2
term p x0 will be grouped with the remaining free term:
10
9
2 3
p y0 +
10
10
(y 0 )2
9
2
+ p x0 = 0;
10
10
this is,
y0
Let
3
p
10
2
+p
10
x0
9
p
2 10
= 0:
8
9
>
< x0 = X + p
2
10 :
,
3
>
>
0
0
: y =Y +p
: Y =y
10
9
3
denote the translation to O0 (x0 = p ; y 0 = p ): After this translation, the
2 10
10
equation of the conic becomes
8
>
< X = x0
9
p
2 10
3
p
10
Y2 =
2
p X;
10
0.2
In some situations, we dont need the reduced canonical equation of a conic, but
only some data related to it, such as: the coordinates of its center, the slopes of
the axes, the slopes of its asymptotes. These can be inferred directly from the
general equation of a conic, without passing to the standard form.
So, let our conic ( ) be described by the equation
f (x; y)
0.2.1
Center of a conic
The coordinates of the center are the solutions (x0 ; y0 ) of the system:
1 0
f
2 x
1 0
f
2 y
where fx0 and fy0 denote the partial derivatives w.r.t. x and y of the function f:
Remark 5 For conics of parabola class, the above system does not have any
solutions. Conic sections of parabola class do not have any center.
0.2.2
Axes of a conic
If the conic is an ellipse or a hyperbola, then its axes pass through the center;
if it is a parabola, then its axis (together with the tangent at the vertex) pass
d
through its vertex. The angle of rotation of the axes, namely = Ox;
Ox0 ; can
be inferred from
2a12
tg(2 ) =
:
a11 a22
The slopes of the axes can be also obtained as the solutions of the second
degree equation
a12 m2 + (a11 a22 )m a12 = 0:
Remark 6 The above equation has the discriminant (a11
this is, it always has real solutions.
a22 )2 + 4a212
0;
Remark 7 If a12 = 0; then the angle of rotation is 0, which means that the
axes of the conic are parallel to Ox and Oy respectively.
0.2.3
Asymptotes
Also, asymptotes of the conic (if any) pass through its center. Their slopes are
given by the equation:
a22 m2 + 2a12 m + a11 = 0:
Remark 8 The discriminant of the above equation is 4(a212 a11 a22 ) = 4 :
Consequently, the only conics which admit real and distinct asymptotes are those
of hyperbola class.
Exercise 9 Let ( ) : 3x2
6xy + 2x + 2y = 0:
1. Compute the invariants and of the conic and determine its nature (degenerate or nondegenerate) and its class (ellipse, hyperbola or parabola).
2. Find its center, axes and asymptotes (if any).
3. Bring it to the standard form at plot it.
Exercise 10 Determine the canonical reduced equations and plot the following
conic sections:
1. 3x2
2xy + 3y 2 + 4x + 4y + 4 = 0:
2. 2xy
2x + 1 = 0:
3. x
4xy + 4y 2 + 2x = 0:
4. 4x2 + 4xy + y 2
4x
2y + 1 = 0:
Coordinate Transformations
Let fO; {; j; kg and fO0 ; {0 ; j 0 ; k 0 g denote two Cartesian frames in space. Any
way of passing from the rst frame to the latter one can be regarded as the
composition of two motions:
1. change the origin O ! O0 , and leave the basis unchanged:
fO; {; j; kg ! fO0 ; {; j; kg:
This is called a translation.
2. leave the origin unchanged, and perform a change of bases:
fO0 ; {; j; kg ! fO0 ; {0 ; j 0 ; k 0 g:
Let us study separately these two types of transformations.
1.1
A. In space:
Let us consider the transformation R =fO; {; j; kg ! R0 = fO0 ; {; j; kg;
where O0 has, with respect to the "old" frame R; the coordinates x0 ; y0 ; z0 :
O0 (x0 ; y0 ; z0 ):
For a point A in space, let (x; y; z) denote its coordinates with respect to R;
and (x0 ; y 0 ; z 0 ), its coordinates with respect to the "new" frame R0 : This is,
!
!
OA(x; y; z); O0 A(x0 ; y 0 ; z 0 ):
!
!
!
Then, we have O0 A = OA OO0 ; which, in coordinates, leads to:
8 0
< x = x x0
y 0 = y y0 :
(1)
: 0
z = z z0
8
< x = x0 + x0
y = y 0 + y0 :
:
z = z 0 + z0
(2)
!
Relations (1)-(2) are the equations of the translation by vector OO0 (x0 ; y0 ; z0 )
in space.
Example: If A(2; 3; 4) with respect to some frame fO; {; j; kg and we translate the frame to the point O0 (1; 0; 2); then, in the new frame fO0 ; {; j; kg; A will
have the coordinates:
x0 = 2
1 = 1; y 0 = 3
0 = 3; z 0 = 4
1
2 = 2:
B. In plane
In a similar way, the transformation R =fO; {; jg ! R0 = fO0 ; {; jg; where
0
O has, with respect to the "old" frame R; the coordinates x0 ; y0 :
O0 (x0 ; y0 );
yields a transformation of the coordinates of some point A(x; y) as follows:
x0 = x
y0 = y
x0
;
y0
x = x0 + x0
y = y 0 + y0
2x + 4y
4 = 0: Find the
1.2
A. In space
Let us now preserve the origin O of our Cartesian frame, and perform a
change of orthonormal bases
f{; j; kg ! f{0 ; j 0 ; k 0 g:
Let again A be a point whose coordinates are:
A(x; y; z) with respect to the old frame fO; {; j; kg;
A(x0 ; y 0 ; z 0 ) with respect to the new frame fO0 ; {0 ; j 0 ; k 0 g:
As known from Linear Algebra, any change of bases (not necessarily orthonormal ones) is characterized by the so called matrix of change C = (cij )i;j=1;3 ,
dened as follows:
8 0
< { = c11 { + c21 j + c31 k
j 0 = c12 { + c22 j + c32 k :
: 0
k = c13 { + c23 j + c33 k
Then, the columns with the coordinates of A (which are the same as the coor!
dinates of OA)
0
1
0 0 1
x
x
X = @ y A ; X 0 = @ y0 A
z
z0
are related by
X = CX 0 :
Remark 3 If both the bases f{; j; kg and f{0 ; j 0 ; k 0 g are orthonormal, then the
matrix of change C has the property C C t = I3 ; which leads to
det C =
1:
2 2 1
2 1 2
1
Exercise 4
1. Show that {0 ( ; ; ); j 0 (
; ; ); k 0 ( ;
3 3 3
3 3 3
3
normal basis in space.
2 2
; ) is an ortho3 3
cos
sin
sin
cos
(3)
The relation between the "old" coordinates (x; y) and the "new" ones (x0 ; y 0 ) of
some point A is given by X = CX 0 ; which is:
x
y
cos
sin
sin
cos
x0
y0
(4)
Example: Find the equation of the line y = x + 5 in the plane xOy; after
a rotation of angle = 45o :
We have
0 1
1 1
p
p
x0
x
B
2 C
;
= @ 12
A
1
y0
y
p
p
2
2
which is,
8
1
>
< x = p (x0 y 0 )
2
:
1 0
>
: y = p (x + y 0 )
2
1
0
0
1
x = x0
:
y = y0
1
0
0
1
x=
y=
x0
:
y0
= 180o ).
1
1.1
!
AB;
!
!
the vector BA is called the opposite of AB:
!
The direction of the bound vector AB is formed by all the straight lines
which are parallel to the straight line AB:
!
!
The length (or the norm) AB of the vector AB is, by denition, the length
of the segment AB :
!
AB = AB:
!
For a bound vector AB; the point A is called the origin or the tail of the
vector, while B is called the head (tip, destination) of the vector.
!
!
The zero vector is, by denition, the vector 0 = AA:
Denition 1 The free vector AB is the set of all bound vectors which have
the same direction, the same orientation and the same length as the bound vector
!
AB:
AB = CD:
1
!
We usually denote free vectors by a bar: a: A certain oriented segment AB
belonging to the free vector AB is called a representative of the vector AB:
In the following, by "vector", unless elsewhere specied, we will always mean
a free vector.
1.2
The rst operations with vectors we are going to talk about are addition and
scalar multiplication.
We denote by E3 the set of free vectors in space, by E2 ; the set of free vectors
in the plane and by E1 ; the set of vectors on the line.
Addition: by the parallelogram rule, or by the triangle rule:
- orientation of a if
is negative.
scalar multiplication
Properties of scalar multiplication:
0) the result of scalar multiplication between a real number and a vector is
a vector:
8 2 R; 8a 2 E3 : a 2 E3 ;
1) distributivity w.r.t. addition of scalars:
8 ; 2 R; 8a 2 E3 : ( + )a = a + a;
2) distributivity w.r.t. addition of vectors:
8 2 R; 8a; b 2 E3 : (a + b) = a + b;
3) "associativity" (where the rst two factors are scalars and the third one
is a vector):
8 ; 2 R; 8a 2 E3 : ( a) = (
)a;
4) 1 is a "neutral element" for scalar multiplication:
8a 2 E3 : 1a = a:
The above properties of scalar multiplication are somehow similar to the
ones of multiplication in a ring, but the essential dierence here is that scalar
multiplication is not an internal operation on E3 (since it involves a scalar and
a vector), but an external operation, formally denoted by R : R E3 ! E3 :
Similar properties are obeyed by vectors in the plane E2 or on the line E1 :
1.3
for some 2 R. In the contrary case, the vectors a and b are called non-collinear,
or linearly independent.
Three vectors a; b; c are called coplanar if their representatives having a
common origin lie in the same plane. This means that one of the three vectors
(for instance, c) can be "decomposed" in terms of a and b (by drawing, from
the tip pf c parallel lines to a and b). From an algebraic point of view:
c = a + b;
for some ; 2 R.
In the contrary case, the three vectors are called non-coplanar, or linearly
independent.
linear dependence
More generally, n vectors v1 ; v2 ; ::::; vn are called linearly dependent if one of
them can be expressed as a linear combination of the other n 1 vectors. For
instance,
vn = 1 v1 + 2 v2 + ::: + n vn :
We will accept for the moment that, for a single vector v, linear dependence
means v = 0 (intuitively, the only vector v which can be written in a nontrivial way as a multiple of itself, v, is the zero vector) accordingly, linear
independence means v 6= 0; a full justication of this denition will be given in
the Linear Algebra chapter.
The following theorem is sometimes called the Fundamental Theorem of
Analytic Geometry.
Theorem 2
1. On a straight line there exists one linearly independent
(nonzero) vector. Any two vectors are linearly dependent.
2. In a plane, there exist two linearly independent (non-collinear) vectors.
Any three vectors are linearly dependent.
3. In space, there exist three linearly independent (non-coplanar) vectors.
Any four vectors are linearly dependent.
4
!
The vector OA is called the position vector of the point A:
5
To any other bound vector ~a which has the same direction, orientation, and
!
length as OA (that is, for the whole free vector OA) we attach the same coordinates (a1 ; a2 ; a3 ):
Addition and scalar multiplication of vectors take place component-wise, i.e.
a(a1 ; a2 ; a3 ); b(b1 ; b2 ; b3 ):
Proposition 5 If A(xA ; yA ; zA ); B(xB ; yB ; zB ); then
AB(xB
xA ; yB
yA ; z B
zA ):
1.4
cos ;
Properties:
1. the dot product is commutative: a b = b a; 8a; b 2 E3
2. it is distributive w.r.t. addition: a (b + c) = a b + a c; 8a; b; c 2 E3 ;
3. a ( b) = ( a) b = a b; 8a; b 2 E3 ; 8 2 R:
4. if a and b are non-zero, then a b = 0 if and only is a is perpendicular to
b : a ? b:
6
a b
:
kak b
a
:
kak
Exercise 7
B(1; 2; 1);
C(3; 0; 1):
Calculate
AB
\
AB ; AC cos(AB AC); prAC AB and the unit vector of AC:
1.5
A(1; 2; 0);
AC;
orientation: given by the right-hand rule (if the pointing nger of your
right hand indicates the orientation of the rst vector a and your middle
nger, the orientation of the second vector b; then your thumb points as
a b);
length: a b = kak b sin ; where
directions of a and b:
Properties:
1. the dot product is anticommutative: a
2. it is distributive w.r.t. addition: a
3. a
( b) = ( a)
b= a
b=
(b + c) = a
a:
b+a
c:
b:
b=
{
a1
b1
j
a2
b2
k
a3
b3
1
a
2
b :
Example: Let A(1; 2; 0); B(1; 2; 1); C(3; 0; 1): Calculate the area of the
triangle ABC:
8
The norm AB
AC =
{
0
2
AC is then AB
A
ABC
j k
0 1
2 1
AC =
1
AB
2
= 2{ + 2j:
p
p
22 + 22 = 2 2; which leads to
AC =
2:
Exercise 9 Let a(2; 1; 2); b(3; 1; 4); c(2; 2; 5): a) Calculate the cross products
a b; a c; b c: b) Determine the areas of the parallelograms built on a; b and
a; c respectively. c) Find a perpendicular vector to both a and b; which has the
length equal to 2 units.
Exercise 10 Calculate by means of the cross product the area of the triangle
ABC; where A(1; 0; 0); B(1; 0; 1); C(2; 3; 1) and the altitude (or height) from
A:
Exercise 11 Find the area of the parallelogram built on the vectors m = 2a+3b;
[
n = a b; where kak = 1; b = 2; (a;
b) = : (Hint: calculate m n and take
6
into account that a a = 0; b b = 0; b a = a b).
1.6
The mixed triple product (also called the box product or scalar triple
product) is dened as:
(a; b; c) = a (b c):
Expression in coordinates:
(a; b; c) =
a1
b1
c1
a2
b2
c2
a3
b3
c3
Applications:
1. The absolute value of the box product is the volume of the parallelepiped built on the three vectors:
Vparall = (a; b; c) :
The volume of the tetrahedron built on a; b; c (as non-coplanar edges)
is
1
(a; b; c) :
Vparall =
6
9
2. The box product zero if and only if the three vectors are linearly dependent
(coplanar).
3. The box product is positive if and only if the system consisting of the
three vectors a; b; c is right-handed (i.e., c lies on the same side of the
plane (a; b) as the cross product a b).
Exercise 12
1. Determine the mixed triple product of a(1; 2; 3); b(2; 3; 4)
and c(3; 3; 5):
2. Find
2 R such that the vectors a(1; 2; 3); b(2; 0; 2) and c(4; 4; ) are
coplanar.
3. Determine the volume of the tetrahedron ABCD; where A(1; 2; 3);
B(1; 2; 4); C(2; 2; 4); D(2; 3; 4); and the altitude from A of the tetrahedron.
! ! !
(AB; AC; AD)
Hint: VABCD =
1
:
6
10
Generated surfaces
F (x; y; z) = 0
:
G(x; y; z) = 0
1.1
Cylindrical surfaces
(C) :
F (x; y; z) = 0
be the directrix curve of the surface.
G(x; y; z) = 0
):
P =
Q=
1
2 R:
) which
= Q;
P
Q
2x y = 0
:
x z=0
):
2x y =
x z=
: ( )
sin
= 0:
2z
2x + y
(S) : y
2z
sin(x
z) = 0;
this is,
sin(x
z) = 0:
Exercise 1
1.2
Conic surfaces
A conic surface is swept out by straight lines which pass through a xed point
(called vertex or apex) and intersect a given curve, called the directrix.
Let us consider that the vertex V is given as the intersection of three planes,
(P ); (Q) and (R) :
8
< P =0
Q=0
V :
:
R = 0:
and the directrix curve (C) is again described as the intersection of two surfaces:
F (x; y; z) = 0
G(x; y; z) = 0:
(C) :
P = Q
P = R
):
( ):
Step 2: The lines (G ) have to intersect (C); this is, the corresponding
system of equations has to be consistent:
8
P = Q
>
>
< (G ) :
P = R
F
(x;
y; z) = 0
>
>
: (C) :
G(x; y; z) = 0:
P P
; ) = 0:
Q R
Example: write the equation of the cone having as vertex V (0; 0; 0) and as
directrix curve, the parabola: (C) : y 2 = 2x; z = 1:
The vertex V (0; 0; 0) can be described as the intersection of the planes
P
Q
R
x=0
y=0
z = 0:
):
x= y
x = z:
4
( )
By the second and the last equation, we get x = ; from the rst, y =
from the third equation, we get
: Now,
2 = 0:
( ; )
But, from ( ); we get
x
;
y
y
z
x
: Hence, the equation of the surface is
z
x
= 0 ) y 2 = 2xz:
z
Exercise 2
1. Find the equation of the surface generated by straight lines
passing through O(0; 0; 0) and which intersect the circle (C) : x2 + y 2 = 1;
z = 5:
2. Determine the equation of the conic8
surface with vertex A(1; 4; 5) and hav< 2 y2
x
=1 :
ing as directrix the hyperbola (C) :
9
:
z = 0:
3. Determine the equation of the cone of vertex V (3; 4; 5); tangent to the
sphere (S) : x2 + y 2 + z 2 = 4:
1.3
Q=0
; (C) :
R=0
(d) :
F (x; y; z) = 0
G(x; y; z) = 0:
Lines which are parallel to (P ) and intersect (d) are obtained as the intersection
between a plane which is parallel to (P ) and one which contains (d) :
(G
Intersection with (C) yields:
8
>
>
< (G
P =
:
Q= R
):
):
>
>
: (C) :
( )
P =
Q= R
F (x; y; z) = 0
G(x; y; z) = 0:
Q
) = 0:
R
Example: Find the equation of the surface swept out by lines which are
parallel to (P ) = (xOy); and intersect the straight lines Oz and (C) : x + 2y =
3; x = z:
8
z=
>
>
< (G ) :
Q x=0
x= y
We have (d) = (Oz) :
; this is, we get
:
R y=0
x + 2y = 3
>
>
: (C) :
x = z:
From the rst, the second and the last equation, we have x = ; y =
= z;
= 3 ) (1 +
)=3
x
; the equation of the surface is
y
z(1 +
2y
) = 3:
x
: The
Exercise 3
1. Find the equation of the surface generated by lines which intersect Oz; the curve (C) : y = 2 + sin x; z = 5 and stay parallel to the
plane (P ) : x + y + z = 0:
2. Find the equation of the conoidal surface generated by lines which intersect
x 1
y+4
z 6
the lines Oz and (d) :
=
=
and remain parallel to the
2
3
5
plane (P ) : x + y 3z = 1:
1.4
Surfaces of revolution
x0
l
y0
z z0
=
m
n
be the axis of rotation. Then, the surface can be regarded as swept out by
circles having their centers oh the axis of rotation, and situated in planes which
are perpendicular to the axis. These can be obtained by intersecting of spheres
of arbitrary radius 2 R+ ; and centers at an arbitrary xed point on (d) (for
instance, at (x0 ; y0 ; z0 )), with planes perpendicular to (d): This is, the generating
circles can be described as:
(G
):
(x
x0 )2 + (y y0 )2 + (z
lx + my + nz =
z0 )2 =
( )
x0 )2 + (y
y0 )2 + (z
z0 )2 ; lx + my + nz = 0:
Example: Find the equation of the surface obtained by rotating the circle
(C) : (x 4)2 + y 2 = 1; z = 0 in the plane xOy; around Oy.
x
y
z
We have (d) = (Oy) : = = ; this is, the generating circles are
0
1
0
(G
):
x2 + y 2 + z 2 =
y=
We get x2 = 2
above system is:
8
x2 + y 2 + z 2 = 2
>
>
<
y=
:
2
(x
4)
+ y2 = 1
>
>
:
z=0
p
2
2 . The condition of consistency of the
)x=
( ; )
Since
= x2 + y 2 + z 2 ;
2
2
= y; we get:
p
x2 + z 2 4
+ y2
1 = 0:
1 = 0:
Exercise 4 Find the equations of the surfaces obtained by rotating the parabola
(C) : y = x2 ; z = 0 around:
1. Oy;
2. Ox:
Plane curves
1.0.1
Representations
x = x(t)
; t 2 [a; b] 2 R (parametric representation).
y = y(t)
> 0;
dx
dy
2. in parametric representation 3), the derivatives
(t0 ) and
(t0 ) do not
dt
dt
simultaneously vanish, where t0 is the value of the parameter t corresponding to M (x0 ; y0 ):
An arc of a curve which consists only of regular points is called a regular
arc.
In the neighborhood of a regular point one can always pass between the
representations 1),2) and 3).
If at some point M; the function which describe the curve are dierentiable
of a certain class p 1; we say that the curve is of class p at that point.
A point of the curve which is not regular is called a singular point. Intuitively, singular points M can be points where the functions which appear
are not continuous (the curve "breaks" at M ), or points where the curve has
an "angle" (which usually corresponds to the situation when the involved functions are continuous, but not dierentiable, or x0 (t) = y 0 (t) = 0), or "multiple
points", through which the curve passes more than once).
1.1
Let (C) be given in explicit representation (C) : y = f (x) and AB a regular arc
of (C):
_
The length of the arc AB is dened as the limiting case of the length of a
_
polygonal line with n sides inscribed in AB; and which connects A and B.
g. 1.2
This polygonal line is chosen such that the length of its greatest side tends to
0, when n tends to innity. The length Ln of such a polygonal line is computed
_
(a; b) ;
(1)
x
ZB q
1 + (f 0 (x)) dx:
(2)
xA
dy
df dx
dx
=
= f 0 (x) :
dt
dx dt
dt
dy
dx
; x_ =
:
dt
dt
t 2 [tA ; tB ]
(t1 ; t2 ) ;
tB q
Z
2
2
=
x (t) + y (t)dt;
L_
AB
(3)
(4)
tA
where
x =
dx
dy
:
; y_ =
dt
dt
AB
tB
Z
p
dx2 + dy 2 :
=
tA
The integrand
ds =
x (t) + y (t)dt =
3
dx2 + dy 2
p
1 + (f 0 (x))2 dx
is called the element of arc length of the curve (C): With this notation, the
_
AB
ds:
AB
Rt
The function s = ds (which measures the length of the curve between some
t0
starting point t0 and the current point t) can be used as a parameter on the
curve, called the natural parameter.
p
Intuitively, the element of arc length ds = dx2 + dy 2 measures the length
of a small (innitesimal) arc of the curve, which can be approximated with the
length of a line segment.
1.2
Given two curves that intersect at some point P; the notion of contact gives
information about how close to each other the two curves pass in a neighborhood
of the intersection point.
Let us suppose that the functions which dene the curves are of class n +
1; n 0:
4
Denition 4 Let (C) and (C 0 ) be two curves which intersect at some point P:
We say that (C) and (C 0 ) have an (n + 1)-point contact (or, equivalently, a
contact of order n), if they have at P (n + 1) confounded common points.
In order to establish the order of the contact, the algorithm is the following:
we write the system of equations which gives the intersection of (C) and (C 0 ):
By eliminating all the unknowns except one, we shall be led to some relation
(x) = 0; (y) = 0 or (t) = 0. If the value of the unknown corresponding to
the common point P is a multiple root of order (n + 1) of ; then at the point
P we have an (n + 1)-point contact.
Let us consider, for instance, the case when the two curves are given in
explicit representation:
(C) : y = f1 (x); (C 0 ) : y = f2 (x)
and let P (x0 ; y0 ) be a common point.
The intersection of (C) and (C 0 ) is given by:
y = f1 (x)
:
y = f2 (x)
By subtracting the two equations, y is eliminated and we get:
(x)
f1 (x)
f2 (x) = 0:
(n)
(x0 ) = 0;
Actually, when we say "n-th order contact", n refers to the last derivative
of which vanishes at x0 ; while the expression "n + 1-point contact" refers to
the number of common points which are confounded at P:
Also, if we have
(C) : F (x; y) = 0; (C 0 ) : x = x(t); y = y(t);
and the common point P (x0 ; y0 ) corresponds to the value t0 of the parameter
on (C 0 ); then, the system which characterizes the intersection between the two
curves is
F (x; y) = 0
:
x = x(t); y = y(t)
We get
(t)
F (x(t); y(t)) = 0:
00
(t0 ):::: =
(n)
(t0 ) = 0;
Exercise 5 Find the order of the contact at the point P (0; 1); between the curves
(C) : y = ex and:
(C 0 ) : y = 1 + x;
(C 0 ) : y = 1 + x +
x2
;
2
(C 0 ) : y = 1 + x +
x2
x3
xn
+
+ ::: +
;n
2
6
n!
3:
The tangent line to a curve (C) at a point P 2 (C) is dened as the limit
position of a secant line P P 0 ; when P 0 tends to P: In other words, the tangent
line is the straight line which has at least a 2-point contact with the curve at a
given point.
In order to write down the equation of a line in plane, one needs a point
M (x0 ; y0 ) on the line and its slope m: Then, the equation of the line is
y
y0 = m(x
x0 ):
This is, once we know a regular point M (x0 ; y0 ) of a curve (C); we only need
the slopes of the tangent and of the normal line.
1. If (C) : y = f (x) is given in explicit representation, then, as known,
from high school, the slope of the tangent line at M is
mtg = f 0 (x0 ):
The normal line is dened as the perpendicular at M to the tangent line,
hence, its slope is
mN =
1
) mN =
mtg
1
:
f 0 (x0 )
Fx0
j(x ;y ) ;
Fy0 0 0
mN =
Fy0
j(x ;y ) :
Fx0 0 0
Since at a regular point, Fx0 and Fy0 do not simultaneously vanish, these two
lines are always well determined (the situation with vanishing denominator
corresponds to a vertical line, formally, m = 1).
3. In parametric representation, (C) : x = x(t); y = y(t); as shown
above, by passing to the explicit representation y(t) = f (x(t)); we get
dy
dx
y(t)
_
= f 0 (x) ; this is, f 0 (x) =
: Then, at the point P corresponding
dt
dt
x(t)
_
to the value t0 of the parameter, we have
mtg =
y(t
_ 0)
) mN =
x(t
_ 0)
x(t
_ 0)
:
y(t
_ 0)
Exercise 2 Write the equations of the tangent and of the normal lines of the
following curves
1. (C) : y = ex at P (x0 = 0);
2. (C) : x2=3 + y 2=3
1
1
1 = 0 (the astroid), at P ( p ; p ):
2 2 2 2
the astroid
3. the ellipse (C) : x = 2 cos t; y = sin t; at A(t0 = 0) and at B(0; 1):
Exercise 3 Prove Proposition (1) for the curves (C) : y = f1 (x) and (C 0 ) : y =
f2 (x); at the common point P (x0 ; y0 ):
Let
(C) : x = x(t); y = y(t)
be a parametrized curve of class at least 2, and P (x0 ; y0 ) 2 (C) a regular point,
corresponding to some value t0 of the parameter.
We are looking for a circle that has contact of maximal order with (C) at
the point P (which best approximates the curve on a neighborhood of P ). In
order to uniquely dene a circle, on needs three non-collinear points. So, we
might expect that (C) should have at P (at least) a 3-point contact with a given
circle ( ):
Denition 4 The osculating circle (or the circle of curvature) of the curve
(C) at the point P 2 (C) (if it exists) is the circle which has at least a 3-point
contact with (C) at the point P:
Note: The term "osculating" comes from the Latin "osculate", which means
"to kiss"; intuitively, the osculating circle "kisses" the curve (C) at the contact
point.
In order to deduce the equation of a circle, one needs the coordinates of its
center !(a; b) and its radius Rc ; once we know these, its equation is:
( ) : (x
a)2 + (y
b)2
Rc2 = 0:
The conditions of 3-point contact (at least) between (C) and ( ) at P (x0 ; y0 ) $
t0 are obtained from
(t)
By performing all computations, one can prove that the coordinates a; b of the
center and the radius Rc are given by
a = x0
Rc
y(
_ x_ 2 + y_ 2 )
x_ y xy_
2
(x_ + y_ 2 )3=2
jt0 :
x_ y xy_
jt0 ; b = y0 +
x(
_ x_ 2 + y_ 2 )
x_ y
xy_
jt0
where the notation jt0 means that all the involved derivatives are calculated at
t = t0 :
Remark 5 At the points P where the denominator x_ y xy_ vanishes, the curve
has no osculating circle. Such points are called inection points of the curve.
Intuitively, the bigger the radius Rc ; the less the curve is "bent" at P and
conversely: the smaller Rc ; the more is (C) bent at P: This "bending" of a curve
is seized in the mathematical notion of curvature.
x_ y xy_
jt
(x_ 2 + y_ 2 )3=2 0
(x_ 2 + y_ 2 )3=2
1
=
jt0
K
x_ y xy_
(x
a)2 + (x2
b)2
this is,
(x)jx=0
(x)jx=0
Rc2 ;
(0) =
(0) =
a2 + b2 Rc2 = 0
2(x a) + 2(x2 b) 2x jx=0 = 0
2 + 12x2 4bjx=0 = 0;
8 2
< a + b2 Rc2 = 0
2a = 0
:
2 4b = 0;
4
00
(0) = 0;
1
1
which leads to a = 0; b = ; Rc = : Obviously, then, the curvature must be 2
2
2
or -2.
In order to compute the curvature, we need a parametric representation of
the curve. The simplest choice is by setting t as one of the coordinates x or y;
for instance:
x = t
y = t2 :
The point A(x = 0; y = 0) is obtained for t0 = 0: Then, x_ = 1; x
= 0;
y_ = 2tjt0 =0 = 0; y = 2; and we get, at the point A
x_ y
xy_ = 2; x_ 2 + y_ 2 = 1:
K=
x_ y xy_
2
= = 2;
1
(x_ 2 + y_ 2 )3=2
1
1
= :
K
2
1
of the circle (C) : x =
K
r cos t; y = r sin t; t 2 [0; 2 ] at an arbitrary point A(t = t0 ) coincides with
its radius r: Equivalently: the curvature of a circle is a constant, namely, the
1
inverse of its radius, K = :
r
Exercise 11 Show that the curvature of the straight line (d) : y = mx + n at
any of its points is 0 (all points of a line are inection points).
Exercise 10 Show that the radius of curvature R =
Exercise 12 Determine the osculating circle, the curvature and the radius of
curvature of the ellipse
x = 2 cos t; y = sin t
at the point A(0; 1):
Exercise 13 For a curve (C) given in explicit representation y = f (x); show
that:
1. inection points A(x = x0 ) are characterized by f 00 (x0 ) = 0:
2. the curvature K at an arbitrary point P (x; y) is given by
K=
f 00 (x)
:
[1 + (f 0 (x))2 )]3=2
1.1
x0 ; y
y0 ; z
z0 ); v1 (l1 ; m1 ; n1 ); v2 (l2 ; m2 ; n2 )
are coplanar. This is equivalent to the fact that the box product of these three
vectors vanishes, which is:
x
x0
l1
l2
y0
m1
m2
z0
n1
n2
= 0:
(1)
2 R:
x1 ; y2
y1 ; z 2
z1 ); M1 M3 (x3
x1 ; y3
y1 ; z 3
z1 ):
By using the point M1 and these two directions, we can write the equation of
the plane (M1 M2 M3 ) :
(M1 M2 M3 ) :
x
x2
x3
x1
x1
x1
y
y2
y3
y1
y1
y1
z
z2
z3
z1
z1
z1
= 0:
1.2
Let M (x0 ; y0 ; z0 ) be a known point in a plane ( ) and N (A; B; C) a perpendicular (normal) vector to the plane. Then, for any point P (x; y; z) in the plane,
the vector N is perpendicular to M P ; which is equivalent to the fact that the
dot product N M P is 0. In coordinates, this yields:
A(x
x0 ) + B(y
y0 ) + C(z
z0 ) = 0:
(2)
The above equation is called the equation of the plane through M (x0 ; y0 ; z0 );
with normal direction N (A; B; C): By doing the calculations in (2), we always get something like:
Ax + By + Cz + D = 0;
(3)
which is called the general equation of the plane. This name is motivated by
the fact that, no matter if we start from (1) or (2), the equation of a plane always
looks like above. Conversely, any equation of degree 1 in x; y; z geometrically
means a plane in three dimensional Euclidean space.
Example: the coordinate planes xOy; yOz; xOz:
The plane xOy contains the point O(0; 0; 0) and has as normal vector k(0; 0; 1):
Hence, its equation is: (xOy) : 0(x 0) + 0(y 0) + 1(z 0) = 0; which is,
(xOy) : z = 0:
In a similar manner, we get
(yOz) : x = 0;
(xOz) : y = 0:
Remark 2 The coe cients of x; y and z in the general equation of a plane give
exactly the coordinates of the normal vector of the plane. For instance, the plane
x + 3y z + 5 = 0 has as normal vector N (1; 3; 1) etc.
Remark 3 Since two parallel planes have the same normal direction, the equation of any plane which is parallel to the plane ( ) : Ax + By + Cz + D = 0
di ers from that of ( ) only by its free term: Ax + By + Cz + D = ; for some
2 R:
Exercise 4 Write the equation of the plane:
1. through A(1; 2; 1) and having as normal vector N (2; 3; 4):
2. through A(2; 3; 5) and parallel to the plane (M1 M2 M3 ); where M1 (1; 0; 0);
M2 (0; 1; 0); M3 (0; 0; 1).
3. through A(x0 ; y0 ; z0 ) and parallel to the plane: a) xOy; b) yOz; c)xOz:
3
1.3
(d) :
x0
l
y0
z z0
=
=: t
m
n
(4)
Remark 5 The canonical equations provide useful information about the line:
namely, the denominators l; m; n are exactly the components of the directing
vector v of the line, while the quantities subtracted from x; y and z in the numerators give the coordinates of some point on the line. For instance, the line
x
1
1
3
2
z+1
4
has the directing vector v(1; 2; 4) and a point on the line is M (1; 3; 1)
If, in (4), we denote the common value of the ratios by t we get
8
< x = x0 + lt
y = y0 + mt
:
z = z0 + nt
(5)
1. The equations of the axes Ox; Oy; Oz : For instance, on (Ox) we know
the point O(0; 0; 0) and the vector {(1; 0; 0); hence, the canonical equations
are
y 0
z 0
0
=
=
=t
1
0
0
It is admitted to formally write 0 in the denominators! This does not
mean that we perform any division by 0, it is just a simpler way of writing
the fact that the numerators and the denominators are proportional. The
meaning of this can be more clearly seen from the parametric equations:
(Ox) :
x
y
z
0 = 1 t=t
0 = 0 t=0
0 = 0 t = 0:
(d) :
N2 =
{
1
1
j k
1 0
0 2
2{
2j + k:
A point on the line can be obtained from any particular solution of the
linear system which describes (d): This can be performed by giving particular values to one of the unknowns. Let us take, for instance, x = 1:
We obtain y = 1; z = 0; this is, M (1; 1; 0):
5
1
2
1
z
= :
2
1
(d) :
A1 x + B1 y + C1 z + D1 = 0
;
A2 x + B2 y + C2 z + D2 = 0
then the sheaf of planes through (d) (or determined by (P ) and (Q))
is the set of all planes which contain (d): Its equation is
P + Q = 0;
Equivalently, with
2 R:
2 R:
(the last form is simpler, still, it requires some attention: there we have
eliminated the case = 0; this is, the plane Q: This is, in any discussion
involving the planes of the sheaf, we should take separately the case when
the plane is Q).
Quadrics
1.1
The Sphere
The sphere is dened as the locus of points in space situated at the same distance
R > 0 (called the radius) from a xed point !(a; b; c); called center.
Let P (x; y; z) denote an arbitrary point of the sphere.
The fact that the distance !P is always R is written, after eliminating
the square root:
(x a)2 + (y b)2 + (z c)2 = R2
(1)
(the equation of the sphere with center !(a; b; c) and radius R). Hence,
the sphere is a quadric.
1. The equation x2 + y 2 + z 2
(x2
2x + 1)
2x + 4y
1 + (y 2 + 4y + 4)
4 + z2
4 = 0;
this is
(x
1)2 + (y + 2)2 + z 2 = 9:
In particular, for the sphere having as center the origin O(0; 0; 0) and radius R;
we get:
8
< x = R cos sin
y = R sin sin
:
z = R cos :
The quantities (R; ; ) are called the spherical coordinates of the point
P (x; y; z):
The tangent plane to the sphere
(S) : x2 + y 2 + z 2 + mx + ny + pz + q = 0;
(3)
x + x0
y + y0
z + z0
+n
+p
+ q = 0:
2
2
2
Exercise 1
1. Find out if the following equations represent spheres. If so,
indicate the center and the radius:
(a) x2 + y 2 + z 2
2
(b) x + y + z
2x + 4y + 4 = 0;
2x + 4y + 6 = 0;
(c) x + y + 4x + 2y + 1 = 0:
2. Determine the sphere which passes through points A(1; 0; 0); B(0; 2; 0);
C(0; 0; 3) and O(0; 0; 0):
2
4. Determine the equation of the sphere with center on the Ox axis which
y+3
z
x 1
passes through A(1; 2; 3) and is tangent to the line:
=
=
:
2
4
1
1.2
1.2.1
x2
y2
z2
+
+
= 1:
a2
b2
c2
I
The numbers a; b; c > 0 are called the semi-axes of the ellipsoid.
Intersections with parallel planes to the planes of coordinates are ellipses,
points or the empty set. In order to convince ourselves,lets take, for instance,
2
x2
y2
planes which are parallel to (xOy); this is, z = : we get 2 + 2 = 1
;
a
b
c2
which is: an ellipse, if 2 ( c; c); a point, if = c and the empty set if
2 R n [ c; c]:
If the ellipsoid has two equal semi-axes, then it is called a spheroid; if all
its semi-axes are equal, then it is a sphere.
1.2.2
x2
y2
+ 2
2
a
b
z2
=1
c2
Its intersections with horizontal planes z = are ellipses, while the intersections with planes y = const: and x = const: are hyperbolas.
The one-sheeted hyperboloid has an interesting property: it is a doubly
ruled surface, this is, such a shape can be built only from rectilinear beams,
and this can be performed in two ways (this is why we say it is "doubly" ruled).
These beams are called the rulings (rectilinear generatrices) of the hyperboloid.
In order to obtain the equations of its rulings, let us write the equation of
the hyperboloid this way:
x2
z2
y2
=
1
;
a2
c2
b2
and factor the dierences of squares:
x z
x z
y
y
+
= 1+
1
:
a
c
a
c
b
b
Then,
8 x z
y
<
+ =
1+
a
c
by ;
(G ) :
x z
:
=1
a
c
b
represents a family of straight lines which are entirely situated on the hyperboloid - hence, they are rectilinear generatrices for this surface.
We can also group the terms with opposite signs:
8 x z
y
<
+ =
1
a
c
by ;
(G ) :
x z
:
=1+
a
c
b
which leads to another family of rulings of the one-sheeted hyperboloid.
We should mention several properties of the lines (G ) and (G ) :
4
y2
x2
+
a2
b2
z2
=
c2
y2
x2
+
a2
b2
Sections with planes z = const: are ellipses, while sections with y = const:
and x = const: are parabolas.
1.2.5
x2
a2
y2
b2
Sections with z = (const.) are hyperbolas, with the exception of the plane
xOy; where the section consists of two intersecting lines (prove this!). Sections
with x = const: and y = const: provide parabolas.
The hyperbolic paraboloid is also a doubly ruled surface. Its rulings are
x y
x y
+
obtained by factoring the right hand side of the equation: z =
a
b
a
b
and then grouping terms of degree 1:
8
8
x y
x y
<
<
+
=z
=z
a
b
a yb
; (G ) :
:
(G ) :
x
y
x
:
:
=
+ =
a
b
a
b
Properties:
Through any point of the hyperbolic paraboloid there passes exactly one
ruling (generatrix) (G ) and exactly one ruling (G ):
Dierent rulings belonging to the same family do not intersect each other
(they are skew lines).
1.2.6
x2
y2
+ 2
2
a
b
z2
=0
c2
Cylinders
x2
y2
+
=1:
a2
b2
y2
=1:
b2
x2
a2
x2
+ y2
4
A(2; 0; 0): Determine the angle between these rulings.
Exercise 2 Find the rulings of the hyperboloid
x2
Exercise 3 Find the rulings of the hyperbolic paraboloid
4
are parallel to the plane x + y + z = 3:
z2
= 1 through
9
y 2 = z; which
Space curves
1.1
Representations
1.
8
< x = x(t)
y = y(t) ; t 2 [a; b] 2 R (parametric representation), which is also
2.
:
z = z(t)
met in vectorial variant:
OM
Fy0
G0y
Fz0
G0z
6= 0 at (x0 ; y0 ; z0 );
dy
dz
dx
2. in parametric representation 3), the derivatives
(t0 ), (t0 ) and
(t0 )
dt
dt
dt
do not simultaneously vanish, where t0 is the value of the parameter t
corresponding to M (x0 ; y0 ; z0 ):
An arc of a curve which consists only of regular points is called a regular
arc. If at a point M; the functions which describe the curve are dierentiable
of a certain class p 1; we say that the curve is of class p at that point.
In the neighborhood of a regular point one can always pass between the
representations 1) and 2).
1.2
The length of the arc AB is dened in the same way as for plane curves, this
is, as the limiting case of the length of a polygonal line with n sides inscribed
_
in AB, chosen such that the length of its greatest side tends to 0, when n tends
_
to innity. If AB is a regular arc, then it can be shown that its arc length is
well dened (=it uniquely exists).
1
(1)
tB
Z
p
=
x_ 2 (t) + y_ 2 (t) + z_ 2 (t)dt;
L_
AB
(2)
tA
dy
dz
dx
; y_ =
; z_ =
:
dt
dt
dt
AB
tB
Z
p
=
dx2 + dy 2 + dz 2 :
tA
The integrand
ds =
p
p
x_ 2 (t) + y_ 2 (t) + z_ 2 (t)dt = dx2 + dy 2 + dz 2
is called the element of arc length of the curve (C): With this notation, the
_
ds:
AB
Rt
The function s = ds (which measures the length of the curve between some
t0
starting point t0 and the current point t) can be used as a parameter on the
curve, called the natural parameter.
p
The element of arc length ds = dx2 + dy 2 + dz 2 measures the length of
a small (innitesimal) arc of the curve, which, in theory, is approximated with
the length of a line segment.
1.3
The TNB-frame (also known as the Frenet Frame), was discovered by Jean
Frederic Frenet (1816-1900). It is an orthonormal frame, moving along the curve.
The initials "TNB" come from the vectors which constitute the frame, namely:
the unit tangent vector ; the unit normal vector (or, more rigorously, the
unit principal normal vector) ; and the unit binormal vector :
2
Let us describe in the following, the faces and the edges of this frame. To
this aim, let us recall some basic things about lines and planes in space:
- a line can be uniquely dened by a point M (x0 ; y0 ; z0 ) and a direction
v(l; m; n); this way:
(line) :
x0
l
y0
z z0
=
:
m
n
- the plane which passes through the point M (x0 ; y0 ; z0 ) and has as normal
direction N = v(l; m; n); has the equation:
(plane) : l(x
x0 ) + m(y
y0 ) + n(z
z0 ) = 0:
N)
(3)
y y0
z z0
x x0
=
=
x(t
_ 0)
y(t
_ 0)
z(t
_ 0)
N)
: x(t
_ 0 )(x
x0 ) + y(t
_ 0 ) (y
y0 ) + z(t
_ 0 ) (z
z0 ) = 0:
Osc ):
Let us suppose that at the point M; there exists the second derivative
r(t0 ) = x
(t0 ){ + y(t0 )j + z(t0 )k;
(the acceleration vector) and the cross product r(t0 )
vanish, this is, the velocity vector r(t0 ) and the acceleration vector r(t0 )
are nonvanishing and non-collinear. Then, the two vectors, together with
3
x0
l
y0
z z0
=
:
m
n
Osc )
: l(x
x0 ) + m(y
y0 ) + n(z
z0 ) = 0:
R)
The normal line (or the principal normal line) of the curve is dened
as the intersection between the normal plane ( N ) and the osculating plane
( Osc) . This is, it is perpendicular to both the tangent vector and to the
binormal one. Hence, the principal normal vector np can be obtained as
the cross product of the two vectors:
np = b(t0 )
r(t0 );
(5)
which is,
np = r(t0 )
This choice of the order b(t0 )
r(t0 )
r(t0 ):
(6)
b(t0 )) insures
x0
A
y0
B
z0
C
R)
: A(x
x0 ) + B(y
y0 ) + C(z
z0 ) = 0:
r(t0 )
r(t0 )
r(t0 )
r(t0 )
r(t0 )
r(t0 )
r(t0 )
r(t0 )
r(t0 )
r(t0 )
r(t0 )
r(t0 )
Example: Find the unit vectors of the TNB (Frenet) frame of the curve
(C) : r(t) = et { + e t j + t2 k at the point M (1; 1; 0):
The point M has the Cartesian coordinates x = 1; y = 1; z = 0; hence
x0
y0
z0
=
=
=
1 = et0
1 = e t0
0 = t20 :
5
r(t0 )
(et {
e t j + 2tk)jt0 =0 = {
(e { + e j + 2k)jt0 =0 = { + j + 2k:
This is, r(1; 1; 0); r(1; 1; 2): The unit tangent vector is
r(t0 )
1
) (p ;
2
r(t0 )
1
p ; 0):
2
Then,
r(t0 ) =
b
1
) ( p ;
b
3
{
1
1
j k
1 0
1 2
{
2
1
2{
2j + 2k:
1
1
p ; p ):
3
3
j k
2 2
1 0
r; this is,
= 2{ + 2j + 4k:
np
1
1
2
) ( p ; p ; p ):
knp k
6
6
6
Exercise 3 Determine the equations of the axes and of the faces of the Frenet
frame for the following curves:
1. r(t) = cos t { + sin t j + tk at A(t0 =
):
1.4
Let now (C) : r(t) = x(t){ + y(t)j + z(t)k be a curve of class at least 3, and
M (t = t0 ) a regular point with r r 6= 0 (this is, such that the TNB frame
exists at M ).
The curvature of (C) at the point M (t = t0 ) is a number which measures
the "deviation" of the curve from its tangent line in a neighborhood of M: It is
given by:
r r
K(t0 ) =
3 jt0 :
r
A point at which the curvature vanishes (this is, r r = 0) is called an
inection point of the curve. At inection points, there is no TNB frame.
6
Exercise 8 Show that for plane curves (C) : r(t) = x(t){ + y(t)j + 0k (in the
r
plane xOy), the formula of the curvature of a space curve Kspace =
jt0
r
gives the absolute value of the curvature of (C) computed by the "plane" formula
x
_y x
y_
Kplane =
:
3=2
2
2
jx_ + y_ j
1
1.1
R2 ;
(1)
@r
@2r
@2r
@r
; r2 =
; r11 =
; r12 =
etc.
2
@u
@u
@u
@u@v
r2 6= 0
(this is, the two vectors are nonvanishing and non-collinear). A point of the
surface which is not regular is called a singular point.
Other description of a surface is
( ) : z = z(x; y);
(2)
(3)
(4)
which is, at least one of the partial derivatives Fx0 ; Fy0 ; Fz0 has to be nonvanishing.
1
If the functions which describe the surface are dierentiable of some class
1 at some point, we say that the surface is of class p at that point.
Example: For the elliptic paraboloid z = x2 + y 2 (! explicit representation), we have
p
z = 0:
1.2
Curves on a surface
1 in the representation
r = r(u; v);
(5)
R;
(6)
or, as well,
v = v(u) or u = u(v) or h(u; v) = 0:
(7)
A peculiar importance have the curves u = u0 (constant) and v = v0 (constant), which are called coordinate curves; they compose a grid, such that
through every point P (u = u0 ; v = v0 ) of (S) there passes exactly a curve of
each family, namely: ( u ) : v = v0 ; (C2 ) : ( v ) : u = u0 :
coordinate curves (
u );
v)
@ r du @ r dv
dr
=
+
= r1 u_ + r2 v;
_
dt
@u dt
@v dt
(8)
@r
@r
; r2 =
: This relation shows that actu@u
@v
ally, the tangent vector r is coplanar with r1 and r2 :
Example: For the coordinate curves, we have: ( u ) : (u = t; v = const:) )
u_ = 1; v_ = 0 and ( v ) : (u = const:; v = t) ) u_ = 0; v_ = 1: This is, the
@r
tangent vectors to the coordinate curves v = const are r1 =
; similarly, the
@u
@r
tangent vectors to the coordinate curves u = const are r2 =
:
@v
If P 2 (S) is a regular point, then, at P; the two vectors r1 and r2 are
nonvanishing and non-collinear )since r1 r2 6= 0). Hence, together with the
point P , they uniquely dene a plane P: Moreover, by (8), we conclude that all
tangent lines to curves through P belong to this plane.
where we used the notations r1 =
1.3
y y0
@y
(u0 ; v0 )
@u
@y
(u0 ; v0 )
@v
z z0
@z
(u0 ; v0 )
@u
@z
(u0 ; v0 )
@v
= 0:
(9)
r2
:
r2 k
(11)
1 y
0
1
4
z
0
h
= 0;
or
1
0
y
z
= :
h
1
(13)
Exercise 3 Find the tangent planes and the corresponding normal lines of the
surfaces
1. (S) : ~r(u; v) = u cos v~i + u sin v~j + u~k; (circular cone) at A(u = 1; v = 0);
2. (S) : x2 + y 2 + z 2 R2 = 0 (the sphere with centre O and radius R) at a
point A(x0 ; y0 ; z0 ) 2 (S);
3. (S) : z = x2
1.4
be a surface of class p
arc AB of the curve (C); corresponding to the values t 2 [a; b] : A(t = a);
a
account that AB is an arc of a space curve, its arc length is dened by the
Rb
integral
r(t) dt.
a
By denoting
2
E = r1 r1 = kr1 k ; F = r1 r2 ; G = r2 r2 = kr2 k ;
(14)
we get:
2
= E u_ 2 + 2F u_ v_ + Gv_ 2 ;
(15)
AB
Zb p
=
E u_ 2 + 2F u_ v_ + Gv_ 2 dt:
(16)
Moreover, from (15), we can see that the arc length element of the curve (C)
is
ds2 = Edu2 + 2F dudv + Gdv 2 :
(17)
Denition 4 The di erential quadratic form ds2 in (17) is called the rst
fundamental form of the surface (S):
Other applications of the rst fundamental form are to the calculus of angles
between curves on the surface and areas of regions of ( ):
The angle between two intersecting curves (C) and (C ) on (S);
is, by denition, is the angle between the tangent lines to (C) and (C )
at their common point.
To this aim, let us consider the curves (C) and (C ) given on (S) by
(C) : u = u(t); v = v(t)
(C ) : u = u (t ); v = v (t ):
If P 2 (C1 ) \ (C2 ) is a common point, then, there holds
Proposition 5 The angle
cos
=p
E u_ 2
(18)
F
~r1 ~r2
;
=p
k~r1 k k~r2 k
EG
(19)
where U
R2 is the domain of the values (u; v) corresponding to the
fragment ( ): The expression
p
d = EG F 2 dudv
(21)
is called the area element of the surface (S); and represents the area
of a small (innitesimal) "curvilinear parallelogram" of the surface ( );
determined by two pairs of neighboring coordinate curves.
Example: For the circular cone ~r(u; v) = u cos v~i+u sin v~j +u~k; v 2 [0; 2 );
u 2 R; determine:
a) its rst fundamental form;
b) the length of the curve u = 1 between the points corresponding to v0 = 0
and v1 = ;
c) the angle of the curves u = 1 and u + v = 1;
d) the area of the curvilinear parallelogram built on the curves: u = 1; u = 2;
v = 0; v = :
2
Vector Spaces
Informally speaking, a vector space (or a linear space) is a set of objects (called
vectors) that may be scaled and added according to some rules; these objects
can be numbers, (geometrical) free vectors, matrices, functions etc. The theory
of vector spaces is, in some sense, a "theory of everything", which provides a
powerful tool for other branches of Mathematics, such as: Geometry, Analysis,
Dierential equations.
Let V 6= ? be a non-empty set, and (K; +; ) a commutative eld. Let us
dene two operations:
+:V
V ! V; (u; v) ! u + v;
:K
V ! V; ( ; v) ! v;
K)
(c)
(u +
2 K; 8v 2 V :
The elements u; v; ::: 2 V are called vectors, while the elements ; ; ::: 2 K
are called scalars.
Rules of computation in vector spaces:
1. Scalar multiplication with the zero vector 0 2 V yields the zero vector:
8 2 K : 0 = 0:
2. Scalar multiplication by the scalar 0 2 K yields the zero vector:
8v 2 V : 0v = 0:
3. No other scalar multiplication leads to the zero vector: if
either = 0; or v = 0:
v = 0; then
v:
If the eld of scalars K is R; then the vector space is called a real vector
space; if K = C; then V is called a complex vector space.
R;
F(I) = ff j f : I ! Rg;
with the usual addition and scalar multiplication of functions,
(f + g)(x)
( f )(x)
= f (x) + g(x);
=
f (x); 8x 2 I;
2 R;
Let (V; +;
K)
be a vector space.
K)
is a subspace if and
u 2 S:
This is, a subspace is a subset of a vector space which is closed under addition
and scalar multiplication, or, equivalently, under formation of linear combinations.
Examples:
1) Let (V; +; K ) be a vector space. Then f0g and V are subspaces of V:
Let us check the above statement:
For S = f0g; we have: 0 + 0 = 0 2 S and
S = f0g is a subspace.
0 = 0 2 S; 8
2 K: Hence,
am2
:::
amn
C
C
C:
A
This is, A is the matrix of the system, and X is the column matrix of the
unknowns. Then, our linear system can be written as a unique matrix equation:
AX = 0:
Proof. Let us now prove the statement.
1. (a) If x = (x1 ; :::; xn ) 2 Rn and y = (y1 ; :::; yn ) 2 Rn are two solutions
of the system, then, with the above notations, we have: AX = 0 and
AY = 0: We get immediately:
A(X + Y ) = 0;
which means that x + y = (x1 + y1 ; :::; xn + yn ) is again a solution of
the system.
4
2 R a scalar. Then,
AX = A( X) = 0;
which means that
q.e.d.
The above example can be used as a theorem. For instance, the solutions of
the system:
x1 + 2x2 + x3 = 0
(1)
x1
3x3 = 0
form a vector subspace of R3 :
Exercise 6 Prove that the solutions of the system
x1 + 2x2 + x3 = 1
x1
3x3 = 2
(2)
do not constitute a vector subspace of R3 : This is, if in the system (1) we change
the free terms, then the solutions of the system do no longer yield a vector
subspace.
Exercise 7 Prove that, in the space of polynomials (C[X]; +; C ); the set
Pn = ff 2 C[X] j f = an X n + an
1X
n 1
+ :::: + a1 X + a0 g
K)
Let (V; +; K ) be a vector space and U V a non-empty subset. Then, the set
of all nite linear combinations of elements in U; namely
[U ] = f
1 u1
+ ::::
n un
2 K; ui 2 U; i = 1; n; n 2 N g
1 u1
+ ::::
Examples:
1) Let U = f(1; 2); (3; 4)g
n un
2 K; i = 1; ng:
R2 : Then,
[U ] = f (1; 2) + (3; 4) j ;
2 Rg = f( + 3 ; 2 + 4 j ;
2 Rg:
2 Kg:
;2 ) j
2 Rg;
3. S3 = f(x1 ; x2 ; x3 ) j x1 + x2 = 0; x1
2x3 = 0g: