This document discusses arc length and curvature of curves. It defines arc length as the integral of the magnitude of the derivative of the curve vector equation over the domain. Curvature measures how quickly a curve changes direction and is defined as the magnitude of the derivative of the unit tangent vector with respect to arc length. The document also introduces the unit tangent, principal normal, and binormal vectors, which form a moving reference frame for describing the geometry of a curve.
This document discusses arc length and curvature of curves. It defines arc length as the integral of the magnitude of the derivative of the curve vector equation over the domain. Curvature measures how quickly a curve changes direction and is defined as the magnitude of the derivative of the unit tangent vector with respect to arc length. The document also introduces the unit tangent, principal normal, and binormal vectors, which form a moving reference frame for describing the geometry of a curve.
This document discusses arc length and curvature of curves. It defines arc length as the integral of the magnitude of the derivative of the curve vector equation over the domain. Curvature measures how quickly a curve changes direction and is defined as the magnitude of the derivative of the unit tangent vector with respect to arc length. The document also introduces the unit tangent, principal normal, and binormal vectors, which form a moving reference frame for describing the geometry of a curve.
This document discusses arc length and curvature of curves. It defines arc length as the integral of the magnitude of the derivative of the curve vector equation over the domain. Curvature measures how quickly a curve changes direction and is defined as the magnitude of the derivative of the unit tangent vector with respect to arc length. The document also introduces the unit tangent, principal normal, and binormal vectors, which form a moving reference frame for describing the geometry of a curve.
Arc Length We learned the length of a curve in 2D is the limit of lengths of inscribed polygons, and we obtained the formula: L =
b a
[f
(t)] 2 + [g
(t)] 2 dt if the curve has the parametric equations x = f(t) and y = g(t) and both f
and g
are continuous. Similarly, the length for a curve in space with a vector equation r(t) =< f(t), g(t), h(t) >, a t b is given by the formula L =
b a
[f
(t)] 2 + [g
(t)] 2 + [h
(t)] 2 dt provided f
, g
, h
are all continuous.
We can write the formula into a more compact form: L =
b a |r
(t)|dt Example: Find the length of the arc of the circular helix with vector equation r(t) = cos ti +sin tj +tk from the point (1, 0, 0) to (1, 0, 2). Solution: The curve from the point (1, 0, 0) to (1, 0, 2) is corresponding to the parameter t from 0 to 2, i.e. 0 t 2. So L =
2 0 |r
(t)|dt =
2 0
[sin(t)] 2 + [cos t] 2 + [1] 2 dt =
2 0
1 + 1dt = 2
2 1 Figure 1: This is the graph that the equation r(t) = cos ti +sin tj +tk from the point (1, 0, 0) to (1, 0, 2) represents A single curve C can be represented by a vector equation r(t) =< f(t), g(t), h(t) >, and the vector equation is called a parametrization of the curve C. Remark: Parametrizations of a curve is not unique. For instance, the twisted cubic r(t) =< t, t 2 , t 3 >, 1 t 2 can also be represented by the parametrization r(u) =< e u , e 2u , e 3u >, 0 u ln 2 provided t = e u . Remark: Reparametrize a curve is similar to change of variables. The arc length arises naturally from the shape the curve and does not depend on parametrization. Arc Length Function: Suppose C is curve given by a vector function r(t) = f(t)i + g(t)j + h(t)k, a t b where r
is continuous and C is traversed once as t increases from a to b.
Denition The arc length function s is dened by s(t) =
t a |r
(u)|du Remark: s(t) is the arc length of the part C between r(a) and r(t). According to the Fundamental Theorem of Calculus, we have ds dt = |r
(t)| Often times, its useful to parametrize a curve with respect to its arc length because arc length is independent on parametrizations. 2 Example: Reparametrize the line r(t) =< 2t, 1 3t, 5 +4t > with respect to arc length measured from (0, 1, 5) in the direction of increasing t. Solution: The arc length measured from the point (0, 1, 5) corresponding to t = 0. To reparametrize the curve w.r.t. the arc length, we need the relation between s and t. Since ds dt = |r
(t)| = | < 2, 3, 4 > | =
29 s(t) =
t 0 |r
(u)|du =
t 0
29du =
29t Therefore, t = s
29 , and the reparametrization is obtained by substituting for t r(s) =< 2 s
29 , 1 3 s
29 , 5 + 4 s
29 > Curvature A parametrization r(t) is called smooth on an interval I if r
(t) is continuous and nonzero.
A curve is called smooth if it has a smooth parametrization (No sharp corners or cusps; tangent vector turns smoothly.) Note that when C is nearly straight, the direction of tangent vector changes slowly; when C bends or twists more sharply, the direction of tangent vector changes more quickly. Curvature at a point is dened to measure how quickly the curve changes direction at that point. Denition: The curvature of a curve is =
dT ds
where T is the unit tangent vector. Remark: dierentiate with respect to arc length. Its easier to compute a curvature if it is expressed in terms of t instead of s. 3 From Chain Rule: dT dt = dT ds ds dt
dT ds = dT dt
ds dt We know ds dt = |r
(t)|, So (t) = |T
(t)| |r
(t)| The curvature of the curve given by the vector function r: (t) = |r
(t) r
(t)| |r
(t)| 3 (Read theorem 10 in the textbook for the proof) For a plane curve, y = f(x), curvature can be given by (x) = |f
(x)| [1 + (f
(x)) 2 ] 3/2 (This formula is derived from the vector equation formula by using r =< x, f(x), 0 >) Example: Find the curvature of the curve given by r(t) =< a cos t, a sin t, 0 >. Solution: r
(t) =< a sin t, a cos t, 0 >
r
(t) =< a cos t, a sin t, 0 >
So |r
(t) r
(t)| = |(a 2 sin 2 t + a 2 cos 2 t)k| = |a 2 k| = a 2 and |r
(t)| = a Therefore, from the formula given by the vector function: (t) = |r
(t) r
(t)| |r
(t)| 3 = a 2 a 3 = 1 a Remark: r(t) in this example represents a circle with radius a. The results shows larger circles have smaller curvature while smaller circles have lager curvature. 4 The Normal and Binormal Vectors Sometimes its useful to have a moving reference frame. Remark: Reference frame is a set of orthogonal vectors We have already introduced the unit tangent vector T(t) = r
(t) |r
(t)| . We need a vector orthogonal to T. Recall from the example of previous lecture that |T| = 1 T
T = 0, i.e., T
is orthogonal to T. T
is not necessarily a unit vector, but if r is smooth, and r
= 0, we can nd the corresponding unit
vector of T
. Denition: The principle unit normal vector is dened by N(t) = T
(t) |T
(t)| Remark: N(t) indicates the direction where the curve is turning. We need another unit vector that is orthogonal to both T and N to get a reference frame in 3D space. Denition: The binormal vector is dened by B(t) = T(t) N(t) Remark: B is a unit vector because |B| = |TN| = |T||N| sin
2 = 1 We call the plane containing N and B at a point P the normal plane of the curve at P (It consists of all lines orthogonal to T) Formula Summary: T(t) = r
Download Complete (Ebook) Computational Materials Science: An Introduction, Second Edition by Lee, June Gunn ISBN 9781498749732, 1498749739 PDF for All Chapters
Download Complete (Ebook) Computational Materials Science: An Introduction, Second Edition by Lee, June Gunn ISBN 9781498749732, 1498749739 PDF for All Chapters
