8.

2 CURVES IN SPACE
(1) Tangent. Let R(C) = x)l + y(t)J + zt)K be the position vector of a
point P. Then as the scalar parameter t takes different values, the point P
traces out a curve in space (Fig. 8.1). If the neighbouring point Q corresponds to Z
t+ &t, then SR = R(t + &)- Re) or SR/&t is directed along the chord PQ. As &t ’
0, Lt SR& becomes the tangent (vector) to the curve at P whenever it exists and
is not zero.
R+ t
&)

Tangent
Thus the vector R= dR/dt is a tangent to the space curve R= F(t).
Let P, be a fixed point of this curve corresponding to t = to- If s be the X
length of the are PP, then Fig. 8.1
Gs &s BR| are PQ SR
chord PQ&
As Q’ P along the curve QR ie., && ’ 0, then are PQ/chord PQ’ 1and
or | Re) |.
IfR() is continuous, then arc P,P is given by

If we take s the parameter in place of t then the magnitude of the tangent vector, i.e., | dR/ds | = 1. Thus
denoting the unit tangent vector by T, we have
...(1)
ds
(2) Principal normal. Since T is a unit vector, we have
dTlds. T=0
i.e., dTlds is perpendicular to T. Or else dTlds = 0, in which case Tis a constant vectorw.r.t. the arc length s and
so has a fixed direction, i.e., the curve is a straight line.
 If we denote a unit normal vector to the curve at P by N then
Tlds is in the direction ofN which is known as the principal
normal to the space curve at P. The plane of T and N is called the
334/1327
o8culating plane of the curve at P (Fig. 8.2). Rectifying Ä Normal plane
plane
(3) Binormal. Athird unit vector B defined by B=Tx N, is
called the binormal at P. Since T andN are unit vectors, Bis also a Curve
unit vector perpendicular to both T and N and hence normal to the
o8culating plane at P.
Tangent/
Thus at each pointPof aspace curve there are three mutually
perpendicular unit vectors, T, N, B which form a moving trihedral
such that
T=NxB,N Bx T, B=TxN ...(2)
P
N

r
No
Osculating plane
in
rmci
apl al
This moving trihedral determines8 the following three Fig. 8.2
fundamental planes at each point of the curve :
() The osculating plane containing T and N
(ü) The normal plane containing N and B
(iü) The rectifying plane containing B and T.
(4) Curvature. The arc rate of turning of the tangent (i.e., the magnitude of d'Tlds) is called the curvature
of the curve and is denoted by k.
Since d'Tds is in the direction of the principal normal N, therefore,
...(3)
dB
(5) Torsion. Since B is a unit vector, we have D,B=0
ds
Also B.T = 0, therefore 3 T +B. L - 0.
ds d's
dB dB-.T=0
|:: B.N=0|
ds .T+B.(kN) =0,
or Le.,
ds
Hence dBds is perpendicular to both B and Tand is, therefore, parallel to N.
The arc rate of turning of the binormal (i.e., the magnitude of dB/ds) is called torsion of the curve and is
denoted by t. We may, therefore, write
dB -N ...(4)
ds
(The negative sign indicates that for t> 0, dB/ds has direction of-N).
Finally to find dNds, we differentiate N= Bx T.
dB xT+Bx =-tN xT+Bx N
ds ds

Using the relation (2), it reduces to - B -MT ...(5)

ds
The equations (3), (4) and (5) constitute the well-known Frenet formulae* for space curves.
 CxVes in pace
e Shoa that the Fxenet - Seraot foemula
fopmda con be
Joniten in the fom d ds
: wxT, ds dn wx n,
db
ds b amd detexmine w.
Am The Fxenet - Secat fopmulas gives the follooing
equations fo o:
dE = Kn = axt
ds

dn +6
ds

ds

Le ,
From O,

’kn=
|Similazy troom
from and ( ,
-kE + B =a,b - a,t
-7n = -a,n+ asE
Equating coeficients , coe gee
= K

4
+ kb.
 Noco 0e
o need to vecily o
|So, ) wxt=
= Kb x
= k

(" dEKn)

= b+ K(-)

dn
dS

dE (Pxoved)
QFind the cwvatuce torsion, , n,5 and
the equations ef os cilafing planes, noomal plane
Bnd ect 1fying plane of the eve p- (t,t,22)
at t= | .

Ae The posi tion vectop is

+ 2 A
dt
Noo d dp E
ds dt ds
ds =

dt |dt

ds
dt VI+ (24)"+ (2) =I+ + 4E1
= 142

d
ds dt ds dt dt

(‘+2t3 +ak)
|+242
at t=| , the unit tomgent vectop
T(f+ a3 +a) (An)
E. (42)(a5 +4+ R) - 4+ (‘ +at 5+2)
Noo dt
(14 242)
=- 4t4 + (2-42)5 +4+ k
(I+ 2:2)
1+^ + (2-4)3 + 4tk
dt dt
(+ 2:2)
Simee dE = kn
ds

dS

k=(Rlh(144{+419)
(R:1)
 2 2
|Hence a t=|, cuVature k =T oa (Ap)-

(2t1)"
k ds
’ n'= (2+1 -4ti + (2- 12) +4t k
2
(1+ 24)3
’ n - 2A7 + ((-2°)3 + 2A k

Ht t=1, þocinciple mopmal vectoro

(-2?- +ak) (Am)

J+ 2A2

At t =1 , bino amal B -(2^ - af +k)

Noco db. 4A4 +(4-2)9

db 4+ + (4-2)
ds dt dt
(1+ 212)3
' We knoo dbds
--7n
44f+ (4+2-2) -4+k
(1+a)3 ]+ &42

9 Equating coefficient, we get

2
(I+ at (lt Q2)
So, At t=|, topsion Z=2 AT)
Note_
Equafion of oscilating plane (r-:) b, -0
Nopmal plome ! ( - ) to =0
Rectifying plone. (
(ro- )) n,
'. HexQ

+29 -a)
--2‘ -S+ aR)
I+) +

Equation of Osculating plana

[(zf1yi z)-+8 3)(2r-29+)
’ 2(2-) - 2(y-) * (z-)- 0
+

’ 2z -2 - 2y t2 +Z - -0
’ 2x - 2y tz- - 0.(As)
Equction of Nomal plame
1(-) +2 (y-) + 2(z- ) o
’ x-1 +2y--2+
2 + az - 4 -0
’x+ay +az- 13_
33 =0
(Am)
 |Equation of Rectilying Plome i
-2 (x-i) - (y-)+ a (z-2) = 0
- 2x + 2 -y t| t Qz - -
’ -2% -y+ az t =0 (Am)
a Find the cuOvatuxo and topsion of the ccve
- (tari')î+log
V2 (+i) + (t-tar' )
E2Expxesion foo Curvatwce and toresion in terns
of the desci vatve of w. o.t,

We knoo t dp
ds

ds ds2
B Cuxvatuce K= ds2
No =kn ’k n =
ds

ds2

ds k ds2
do
X
ds ds)
Toesion t
=
- X ds2
ds
ds2