Differentialgeometry Threedimensionalspace 140924225031 Phpapp01

Differential Geometry
Three Dimensional Euclidian

Space
SOLO HERMELIN
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http://www.solohermelin.com Updated: 1.04.07
1
SOLO Vectors & Tensors in a 3D Space
TABLE OF CONTENT
Introduction
Curvilinear Coordinates in a Three Dimensional Space
Theory of Curves
Unit Tangent Vector of path C at a point P
Curvature of curve C at P
Osculating Plane of C at P
Osculating Circle of C at P
Binormal
Torsion
Seret-Frenet Equations
Involute
Evolute
Surfaces in the Three Dimensional Spaces
First Fundamental Form:
Arc Length on a Path on the Surface
Surface Area
Change of Coordinates
Second Fundamental Form
2
TABLE OF CONTENT (continue)

)Surfaces in the Three Dimensional Spaces (continue
Normal Curvature
Principal Curvatures and Directions
Conjugate Directions
Asymptotic Lines
Planar Curves
References 3
Introduction
Differential Geometry is the study of geometric figures using the methods of Calculus.
Here we present the curves and surfaces embedded in a three dimensional space.
Properties of curves and surfaces which depend only upon points close to a particular
point of the figure are called local properties.. The study of local properties is called
differential geometry in the small.
Those properties which involve the entire geometric figure are called global properties.
The study of global properties is called differential geometry in the large.
Hyperboloid Mobius
Toroyd of Rotation 4
Movement
Return to Table of Contents
Curvilinear Coordinates in a Three Dimensional Space

Let express the cartesiuan coordinates (x, y, z) of any point, in a three dimensional space
as a function of three curvilinear coordinates (u1, u2, u3), where:
 x = x ( u1 , u 2 , u 3 ) , y ( u1 , u 2 , u 3 ) , z ( u1 , u 2 , u 3 )

k
 u 3 curve
u 1 = u 1 ( x , y , z ) , u 2 = u 2 ( x , y , z ) , u 3 = u 3 ( x , y , z ) u1 = const
Those functions are single valued with continuous →

dr
derivatives and the correspondence between (x,y,z) 
→
∂r
→
j
and (u1,u2,u3) is unique (isomorphism). u 2 = const ∂r
∂ u1
d u1 ∂ u3
d u3
    ∂r
→
r = xi +y j+zk d u2 u 2 curve
∂ u2
 u3 = const
u1 curve
 i
  
d r =d xi +d y j+d zk
∂x ∂x ∂x   ∂ y ∂y ∂y  ∂z ∂z ∂z 
=  d u1 + d 21+ d u 3  i +  d u1 + d 21+ d u 3  j +  d u1 + d 21+ d u 3  k
 ∂ u1 ∂ u2 ∂ u3   ∂ u1 ∂ u2 ∂ u3   ∂ u1 ∂ u2 ∂ u3 
 ∂ x  ∂ y  ∂ z   ∂ x  ∂ y  ∂ z   ∂ x  ∂ y  ∂ z 
=  i+ j+ k  d u1 +  i+ j+ k  d u 2 +  i+ j+ k  d u 3
∂
 1 u ∂ u 1
∂ u 1   2∂ u ∂ u 2
∂ u 2  ∂
 3 u ∂ u 3
∂ u 3 
  
∂r ∂r ∂r
= d u1 + d u2 + d u3
∂ u1 ∂ u2 ∂ u3
or  ∂r

∂r

∂r

dr= d u1 + d u2 + d u3 5
∂ u1 ∂ u2 ∂ u3
Differential Geometry in the 3D Euclidean Space
SOLO
Theory of Curves
A curve C in a three dimensional
 space is
defined by one parameter t, r ( t ) P
dr b
Regular Parametric Representation of a Vector Function: a

 
r = r ( t), t ∈ I

r (u)
parameter t, defined in the interval I and: C O


(i) ( t ) is of class C1 (continuous and 1st order differentiable) in I
r
d r (t) 
(ii) ≠ 0 ∀ t ∈ I → r ( t ) not constant in I
dt
Regular Curves:
A real valued function t = t (θ), on an interval Iθ, is an allowable change of parameter if:
(i) t (θ) is of class C1 in Iθ (ii) d t/ d θ ≠ 0 for all θ in Iθ
  1/ 2 
  d r d r  dr
Arc length differential: d s := [ d r ( t ) ⋅ d r ( t ) ] =  ⋅  dt =
1/ 2
dt
dt dt  dt
  1/ 2
We also can define d s * := − [ d r ( t ) ⋅ d r ( t ) ] = − d s
 
t
d r
 A representation = r ( s ) on Is is a
r
Arc length as a parameter: s = ∫ dt
t0
dt representation in terms of arc length6 or a
natural representation
SOLO
Theory of Curves (continue – 1)
Unit Tangent Vector of path C at a point P 
A curve C in a three dimensional space is defined by one parameter t, r ( t )
  1/ 2
  1/ 2  d r d r 
d s := [ d r ( t ) ⋅ d r ( t ) ] =  ⋅  d t - arc length differential
 dt dt  P
dr b
  1/ 2
We also can define d s *
:= − [ d r ( t ) ⋅ d r (t)] = − d s a

r ( u)
 dr - tangent vector of path C at P
r'= (tangent to C at P) C
dt O
 d r  d r d r dr dr 
t := := r = / - unit tangent vector of path C at P =− = −t
ds dt dt (tangent to C at P) d s* ds

Example: Circular Helix r = a cos t e1 + a sin t e2 + b t e3 , a > 0, b ≠ 0

 d r
r'= = −a sin t e1 + a cos t e2 + b e3 , a > 0, b ≠ 0
x3
dt
   1/ 2
d r d r d r
=  ⋅  = ( a2 + b2 )
1/ 2
dt  dt dt 
( )
x2
 dr dr
= (a 2 + b2 )
−1 / 2
t := / − a sin t e1 + a cos t e2 + b e3 x1 7
dt dt
SOLO
The earliest investigations by means of analysis were made
by René Descartes in 1637.
The general concept of tangent was introduced in
seventeenth century, in connexion with the basic concepts of
calculus. Fermat, Descartes and Huyghens made important René Descartes
1596 - 1650
contributions to the tangent problem, and a complete
solution was given by Leibniz in 1677.
dr b
P
a

r (u)
Christian Huyghens Pierre Fermat

C O 1629 - 1695 1601 - 1665
The first analytical representation of a tangent was given

by Monge in 1785.

r (t)
Gottfried Leibniz
1646 - 1716
Gaspard Monge 8
1746 - 1818
SOLO

A curve C in a three dimensional space is defined by one parameter t, ( t ) r
  1/ 2
  1/ 2  d r d r 
d s := [ d r ( t ) ⋅ d r ( t ) ] =  ⋅  d t - arc length differential
 dt dt 
  1/ 2
We also can define d s * := − [ d r ( t ) ⋅ d r ( t ) ] = − d s - arc length differential
 d r  d r d r   - unit tangent vector of path C at P dr dr 

t := := r = / = r ' / r ' (tangent to C at P) = − = − t
ds dt dt d s* ds
  
NormalPlane ( r − r ) ⋅ t = 0
0
 
( r − r ) ⋅ t = 0

:Normal Plane to t at P 0
t
P
b
a

 r0
r
C
O
9
SOLO
 d t  

NormalPlane ( r − r ) ⋅ t
0 =0
:Curvature of curve C at P k := = t = r 

ds t
  P
  dt    
Since t ⋅ t = 1 → ⋅ t = t ⋅ t = k ⋅ t = 0 a
b
d s
      1  
Define n := k / k & k := k = 1 / ρ → k = k n = n 
r
r0
ρ C
k – curvature of C at P O
ρ – radius of curvature of C at P
A point on C where k = 0 is called a point of inflection and the radius of curvature
. ρ is infinite
 
Let compute k as a function of r ' and r ' ' :
 
 dr dr ds  
r'= = = t s' r ' = s'
dt ds dt
   2 
 d  d 
r ''= r '= ( t s') = s'+ t =
d t  d s ' d t d s   2 
s '+ t s" = t ( s ') + t s" = k ( s ') + t s"
 
dt dt dt dt ds dt
r '× r ' '
    k= 3
    2 
( )
3
  r '× r ' ' = t × n k s '
r '× r ' ' = t s'× k ( s') + t s" = t × n k ( s') r'
3

1 10
SOLO

Example 1: Circular Curve r = a cos t e1 + a sin t e2 , a > 0

 d r
r'= = −a sin t e1 + a cos t e2 , a > 0
dt x3
   1/ 2
d r d r d r
=  ⋅  = ( a2 + b2 ) d s = d r ( a2 + b2 )

1/ 2  1/ 2 t

x2
k
dt  dt dt 
( )
x1
 dr dr
t := / = a − a sin t e1 + a cos t e2
dt dt
 d t  d r d s
k=
ds
=t =
dt dt
/
1
(
= − cos t e1 + sin t e2
a
)

Example 2: Circular Helix r = a cos t e1 + a sin t e2 + b t e3 , a > 0, b ≠ 0

 d r
r'= = −a sin t e1 + a cos t e2 + b e3 , a > 0, b ≠ 0
 d t   1/ 2
x 3
d r d r d r
=  ⋅  = (a + b ) d s = d r (a + b )
2 2 1/ 2  2 2 1/ 2
dt  dt dt  
t 
k
 dr dr
t := /
dt dt
(
= ( a 2 + b 2 ) − a sin t e1 + a cos t e2 + b e3
−1 / 2
) x 2
 d t  d r d s
k=
ds
=t =
dt dt
/ =− 2
a
a +b 2
(
cos t e1
+ sin t e 2
) x 1
11
SOLO 
( r − r ) ⋅ t
Theory of Curves (continue – 6) NormalPlane 0
=0
Osculating
 Plane
t
Osculating
  Plane of C at P is the plane that contains P
 
( r − r ) ⋅ t × k = 0
( )
0
   
t:,and
k P (r − r ) ⋅ t × k = 0
0 a
b
  1  
k = t = n r0
ρ
The name “osculating plane” was C
introduced by D’Amondans O
Charles de Tinseau (1748-1822) in
1780.
The osculating plane can be also defined as the limiting position of a plane passing
.through three neighboring points on the curve as the points approach the given point

NormalPlane ( r − r ) ⋅ t =0
:If the curvature k is zero along a curve C then 0
Osculating
        
t Plane
t ≡ 0 → t = r = a = const → r = r + a t
0 P 0
 
( r − r ) ⋅ t × k = 0
:The curve C is a straight line. Conversely if C is a straight line a

b
    dr dr     1 
k = t = n
ρ
r = r0 + a t → t = / = a/a → k = t = 0 
r0
dt dt C
O
C a regular curve of class ≥2 (Cclass) is a straight line if and only if k = 0 on C

12
SOLO
Osculating
  Circleof C at P is the plane that contains
t:,and
k P The word "osculate" means "to kiss."
The osculating circle of a curve C at a given point P is the circle that has the same
tangent as C at point P as well as the same curvature.
Just as the tangent line is the line best approximating a curve at a point P,
the osculating circle is the best circle that approximates the curve at P.
Osculating Circles on the Deltoid

http://mathworld.wolfram.com/OsculatingCircle.html
13
SOLO
Theory of Curves (continue – 6a)
Osculating
  Circleof C at P is the plane that contains
t:,and
k P
y = tan x y = x3
y = 1/ x
14
y = cos x y = sin x http://curvebank.calstatela.edu/osculating/osculating.htm
SOLO
     
Binormal b := t × n NormalPlane ( r − r 0 ) ⋅ t = 0
The name binormal was introduced by  Osculating

Saint-Venant b 
t
Plane
 
( r − r ) ⋅ t × k = 0

P 0
b
a Rectifying
Plane
  1   
k = t = n 
( r − r ) ⋅k = 0
0
ρ r0
C
Jean Claude Saint-Venant
1797 - 1886
O
Fundamental Lines: Fundamental Planes:
     
Tangent Line: r = r0 + m t
  
Normal Plane: ( r − r0 ) ⋅ t = 0
  
Principal Normal Line: r = r0 + m n

Rectifying Plane: ( r − r0 ) ⋅ n = 0
    
Binormal Line: r = r0 + m b Osculating Plane: ( r − r0 ) ⋅ b = 0
15
SOLO
Torsion
  
Suppose that r = r ( s ) is a regular
 curve
 of class ≥ 3 (C class
) along which n ( s ) is of

class C1. then let differentiate b ( s ) = t ( s ) × n ( s ) to obtain:
          
b ( s ) = t ( s ) × n ( s ) + t ( s ) × n ( s ) = k n ( s ) × n ( s ) + t ( s ) × n ( s ) = t ( s ) × n ( s )
       
Since n ( s ) ⋅ n ( s ) = 1 → n ( s ) ⋅ n ( s ) + n ( s ) ⋅ n ( s ) = 0 → n ( s ) ⋅ n ( s ) = 0
 
Therefore n is normal to n , meaning  that
 is in the rectifying plane,
or that is a linear combination of t and b .
   
n ( s) = µ ( s) t ( s) + τ ( s) b ( s) b 
t
P
[ ]
  b
    
b ( s ) = t ( s ) × n ( s ) = t ( s ) × µ ( s ) t ( s ) + τ ( s ) b ( s ) = −τ ( s ) n ( s ) a

n

r0
The continuous function τ (s) is called the second curvature C

O
or torsion of C at P.  
τ ( s) = −b ( s) ⋅ n ( s)
16
SOLO
Torsion (continue – 1)
 
Suppose that the torsion vanishes identically (τ ≡0) along a curve r = r ( s ) , then
   
b ( s ) = −τ ( s ) n ( s ) = 0 → b ( s ) = b0

b 0
  
Since t ( s ) and b ( s )are orthogonal P
t
a
b

[ ]
n
d   d      
r ( s ) ⋅ b0 = [ r ( s ) ] ⋅ b0 = t ⋅ b0 ≡ 0 → r ( s ) ⋅ b0 = const C

r 0
ds ds O
 
Therefore r = r ( s ) is a planar curve confined to the plane r (s ) ⋅b0 =const
 
C a regular curve of class ≥3 (Cclass) is a planar curve if and only if τ = 0 on C
 x3
Example 2: Circular Helix r = a cos t e1 + a sin t e2 + b t e3 , a > 0, b ≠ 0


(
t = ( a 2 + b 2 ) − a sin t e1 + a cos t e2 + b e3
−1 / 2
) 
(
n = − cos t e1 + sin t e2 ) 
t 
k
  
( )(
b = t × n = − ( a 2 + b 2 ) − a sin t e1 + a cos t e2 + b e3 × cos t e1 + sin t e2
−1 / 2
)
( )
x2
= ( a 2 + b 2 ) b sin t e1 − b cos t e2 + a e3
−1 / 2
x1
  
 d b d b d t d b 2 2 −1 / 2
b= =
ds dt ds dt
= (
( a + b ) = ( a 2 + b 2 ) −1 b cos t e1 + b sin t e2 )  
τ = − b ⋅ n = b ( a 2 + b 2 )17
−1
SOLO
Torsion (continue – 2)
  
Let compute τ as a function of r ' , r ' ' and ' ' ' : r
 
 d r d r d t   
r= =
ds dt ds
= r' t = t  d     d      2 
r=
ds
( r ' t ) = r ' t + ( r ') t = r ' t + r " t = t = k n = k b × t
ds

( )  
r = d ( r ' t + r" t2 ) = r ' t + r" t t + 2 r" t t + r ' ' ' t3 = r ' t + 3 r" t t + r ' ' ' t3
ds
            2
= k b + k b × t + k b × t = k b + k( − τ n) × t + k b × ( k n) = k b − k τ b − k t
 
( )
r , r,r = r ' t ⋅ ( r ' t + r " t2 ) × ( r ' t + 3 r " t t + r ' ' ' t3 )
        
= r ' t ⋅ [ 3 tt2 ( r '× r ") + t3t ( r '× r ' ' ') + t2t( r "× r ') + t5 ( r "× r ' ' ') ]
        
           
= 3 t2 t2 ( r ' , r ' , r ") + t4t( r ' , r ' , r ' ' ') + t3t( r ' , r " , r ') + t6 ( r ' , r "× r ' ' ')
    
0 0 0
6      
(
= t ( r ' , r "× r ' ' ') = t ⋅ ( k n ) × k n − k τ b − k t = k k ( )
 2
   
t , n, (
n) − k τ 2
)   3 
t , b − k (
n, t ,
n, t ) = − k 2τ
d t 1 1
0 1
 0
t = = =  r '× r ' '
d s d s / d t r' We also found: k= 3
r'
  
  
   ( r ' , r "× r ' ' ')
  2 ( r ' , r "× r ' ' ')
( r,r, r =) 6 = −k τ = −  6 τ
2
r '× r ' ' τ =   2
r '× r ' ' 18
r' r'
SOLO
Seret-Frenet Equations
  
We found t ( s ) = k ( s ) n ( s ) and b ( s ) = −τ ( s ) n ( s )

  
Let differentiate n ( s ) = b ( s ) × t ( s )
        
n s = b s × t s + b s × t s = −τ s n s × t s + k s b s × n s = τ s b s − k s t ( s )
( ) ( ) ( ) ( ) ( ) ( ) ( ) ( ) ( ) ( ) ( ) ( ) ( ) ( )
We obtain
   

t ( s) = 0 t ( s) + k ( s) n ( s) + 0 b ( s)  t ( s )  ( )

   0 + k s 0   ( s ) 
 t

 n ( s )  =   
    
n ( s) = − k ( s) t ( s) + 0 n ( s) + b τ ( s) b ( s)
or
   − k ( s ) 0 + τ ( s )   n ( s) 
  0 ( )    
     b ( s) 
  − τ s 0   b ( s) 
b ( s) = 0 t ( s) − τ ( s) n ( s) + 0 b ( s)  
Those are the Serret – Frenet Equations of a curve.
Jean Frédéric Frenet Joseph Alfred Serret 19

1900 - 1816 1885 - 1819
SOLO
Seret-Frenet Equations (continue – 1)
Let show that if two curves C and C* have the same curvature k (s) = k* (s) and
torsion τ (s) = τ*(s) for all s then C and C* are the same  exceptfor they position
 in
  
space. Assume that at some s0 the triads t ( s9 ) , n ( s9 ) , b ( s9 ) and t * ( s9 ) , n * ( s9 ) , b * ( s9 )
coincide.
Let compute:
( t ⋅ t ) = t ⋅ t + t ⋅ t = k n ⋅ t + t ⋅ k n = k ( n ⋅ t * + t ⋅ n * )
d   *   *   *   *  *  * k=k *
ds
( )
  * 
( ) k=k
(  *  *
( n ⋅ n ) = n ⋅ n + n ⋅ n = − k t + τ b ⋅ n + n ⋅ − k t + τ b τ ==τ − k ( n ⋅ t + t ⋅ n ) + τ b ⋅ n + n ⋅ b
d   *   *   *   *  *
)
*
* * * *
ds
*
( )
d   *   *   *   *  *  * τ =τ
(
 *  *
)
*
b ⋅ b = b ⋅ b + b ⋅ b = −τ n ⋅ b + b ⋅ τ n = − τ n ⋅ b + b ⋅ n
ds
Adding the equations, we obtain: ( d
d  *  *  *
s
t ⋅t + n⋅n + b ⋅b = 0 )
Integrating we obtain: (  *  *  *
) ( )
 *  *  *
t ⋅ t + n ⋅ n + b ⋅ b = const = t ⋅ t + n ⋅ n + b ⋅ b s = 3
( )
0
 *  *  *  *  *  *
Since: − 1 ≤ t ⋅ t , n ⋅ n , b ⋅ b ≤ 1 and t ⋅t + n⋅n + b ⋅b = 3
     
we obtain: t ⋅ t * = n ⋅ n * = b ⋅ b * = 1
 
dr  * d r*  *
Finally since: d s = t ( s ) = t ( s ) = → r ( s ) = r ( s ) + const 20
ds
SOLO
Existence Theorem for Curves
Let k (s) and τ (s) be continuous   functions of a real variable s for s0 ≤ s ≤ sf.
Then there exists a curve r = r ( s ) , s0 ≤ s ≤ sf, of class C2 for which k is the curvature,
τ is the torsion and s is a natural parameter.
Proof: Consider the system of nine scalar differential equations:
      
ti ( s ) = k ( s ) ni ( s ) , ni ( s ) = − k ( s ) ti ( s ) + τ ( s ) bi ( s ) , bi ( s ) = −τ ( s ) ni ( s ) , i = 1,2,3
           
with: t = t1e1 + t 2 e2 + t 3 e3 , n = n1e1 + n2 e2 + n3 e3 , b = b1e1 + b2 e2 + b3 e3
     
and initial conditions: t ( s0 ) = e1 , n ( s0 ) = e2 , b ( s0 ) = e3
( )( )
(t ⋅ t ) = t ⋅ t + t ⋅ t = 2 k (n ⋅ t )
d        
ds
( ) ( )
( n ⋅ n ) = n ⋅ n + n ⋅ n = − 2 k ( t ⋅ n ) + 2τ b ⋅ n
d        
( )
 
ds
( )( ) ( )
( t ⋅ n) = t ⋅ n + t ⋅ n = k ( n ⋅ t ) − k (t ⋅ t ) + τ t ⋅ b
d            
d
( ) ( )
d        
s
n ⋅ b = n ⋅ b + 

n ⋅ b 

=( ) ( )
− k
 
t ⋅ b + τ b
 
⋅ b − τ (  
n ⋅ n)
ds
ds
( ) ( ) ( )
d          
t ⋅ b = t ⋅ b +  t ⋅ b  = k n ⋅ b − τ (t ⋅ n)
 
 
ds
( )
d          
( )
b ⋅ b =  b ⋅ b  +  b ⋅ b  = −2 τ n ⋅ b
   
 
and initial conditions:

( ) ( ) ( )
  21
       
( t ⋅ t ) s = 1, ( t ⋅ n ) s = 0,
0 0
t ⋅ b s = 0,
0
( n ⋅ n ) s = 1,
0
n ⋅ b s = 0, b ⋅ b s = 1
0 0
SOLO
Existence Theorem for Curves (continue – 1)
Proof (continue – 1):
d
ds
( t ⋅ t ) = 2 k ( n ⋅ t )  
( ) 
( n ⋅ n ) = − 2 k ( t ⋅ n ) + 2τ b ⋅ n
d  
ds
We obtain: d
ds
       
( )
(t ⋅ n) = k ( n ⋅ t ) − k (t ⋅ t ) + τ t ⋅ b
ds
( )
d  
( ) ( )
   
n ⋅ b = − k t ⋅ b + τ b ⋅ b − τ ( n ⋅ n)
 
d
ds
( ) ( )
     
t ⋅ b = k n ⋅ b − τ (t ⋅ n)
ds
( )
d  
( )
b ⋅ b = −2 τ n ⋅ b
 
 
and initial conditions: ( t ⋅ t ) s = 1, 0
 
( )
 
( t ⋅ n ) s = 0, t ⋅ b s = 0,
0 0
( n ⋅ n ) s = 1,
0
( )
 
( )
 
n ⋅ b s = 0, b ⋅ b s = 1
0 0
The solution of this type of differential equations with

 given initial conditions has
 
( )    
a unique solution and since ( t ⋅ t ) = 1, ( t ⋅ n ) = 0, t ⋅ b = 0, ( n ⋅ n ) = 1, n ⋅ b = 0, b ⋅ b = 1
 
( ) ( )
is a solution, it is unique.
  
The solution t , n, b is an orthonormal triad.
s
  
We now define the curve: r = r ( s ) := t ( σ ) d σ
∫
   s 
We have: r = t = 1 and t ( s ) = k ( s ) n ( s ) & n ( s ) = 1 , therefore k (s) is the curvature.
0
           
Finally since: b = t × n → b = t × n + t × n = k ( n × n ) − k ( t × t ) + τ t × b = −τ n
 
   
22 ( )
Therefore τ (s) is the torsion of r = r ( s ) q.e.d.
SOLO
From the previous development we can state the following theorems:
A curve is defined uniquely by the curvature and torsion 

b 
as functions of a natural parameter. t
P
The equations k = k (s), τ = τ (s), which give the curvature s0
ρ=
1 sf
and torsion of a curve as functions of s are called the natural 

k
n
or intrinsec equations of a curve, for they completely define 
r0
the curve. C
O
Fundamental Existence and Uniqueness Theorem of Space C*

Curves  
b t
P
s0 sf
Let k (s) and τ (s) be arbitrary continuous functions on *
 r0
s0≤s≤sf. Then there exists, for position in space, one and only n 
r0
one space curve C for which k (s) is the curvature, τ (s) is the
C
torsion and s is a natural parameter along C. O
23
SOLO
Involute
Let consider a space curve C. We construct the tangent Involute Ci

lines to every point on C and define an involute Ci as any
curve which is normal to every tangent of C.
s)
From the Figure we can see that the equation of the (c −


t t 1
Involute is given by:
   
r1 = r + u t 
r
r
C1
Curve
Differentiating this equation we obtain: O
  
d r1   d r d t d u  d s    d u  d s
= t1 =  +u + t  =  t + u k n + t 
d s1  ds d s d s  d s1  d s  d s1
  
Scalar multiply this equation
  by t and use the fact that ⋅ n = 0 and from the
t
definition of involute t ⋅ t1 = 0 :
      d u   d s du
0 = t ⋅ t1 =  t⋅ t + u k t⋅ n + t⋅ t  1+ =0 u = c− s
 1 0 d s 1  d s1
ds
  
r1 ( s ) = r ( s ) + ( c − s ) t ( s )
24
SOLO
Involute (continue – 1)
  
r1 ( s ) = r ( s ) + ( c − s ) t ( s )
    
 dr dr dt  ds ds  Ci
t1 = 1 =  + ( c − s ) = ( c − s) k
Involute
−t n
d s1   ds d s  d s1 d s1
  
 t 
 s)
t1 and n are collinear unit vectors, therefore: 
(c − 
t1
t
ds ds 1
( c − s) k =1 → = 
d s1 ( c − s ) k
r1
d s1

r C
Curve
O
The curvature of the involute, k1, is obtained from:
      
d t1  dt ds t1 = n
dn 1 − k t +τ b
= k1 n1 = 1 = =
d s1 d s d s1 ds
=
1
d s ( c− s ) k
1
d s ( c − s) k ( c − s) k
Hence: k2 +τ 2
k1 =
2
( c − s) 2 k 2
 −1 
k1 n1 τ = 0 = t
For a planar curve (τ=0) we have: ( c − s) 25
SOLO
Involute (continue – 3) Involute Ci
s)
(c − 

t t1

r1

r C
Curve
O
http://mathworld.wolfram.com/Involute.html
26
SOLO
Evolute
The curve Ce whose tangents are perpendicular to a Curve C

given curve C is called the evolute of the curve.
 
The tangent to Ce, t1 , must lie in the
 plane of n 
t1 
and b since it is perpendicular to t . Therefore: t
     
r1 = r + u n + v b = r + w t1 
r1

r Ce
Evolute
Differentiating this equation we obtain: O
   
d r1   d r
d s1
= t1 =
 ds
+u
dn
d s
+v
d b d u  d v   d s  
d s
+
d s
n+
d s
b
 ds 
(
 
) d u  d v  d s
= t + u − k t +τ b − vτ n +
d s
n+
d s
b
  1   d s1
    
Scalar multiply this equation
 by t and use the fact that t ⋅ n = t ⋅ b = 0 and from the
definition of evolute t ⋅ t1 = 0 :
      d s 1
0 = t ⋅ t1 =  t⋅ t − u k t⋅ t  1− u k = 0 u= =ρ
 1 1  d s1 k
  d v   d u   d s
t1 =   τ u +  b +  − v τ +  n 
  d s   d s   d s1 27
SOLO
Evolute (continue – 1)
Curve C
  d v   d u   d s

We obtain: t1 =   τ u + 
 
b + − vτ +  n 
  ds  d s   d s1 
1 t1 
u= = ρ t
k 
( )
    
 r Ce
t1 = ( r1 − r ) / w = u n + v b / w1
r1
But: Evolute
O
dv du
+τ u − vτ
Therefore: d s d s
=
u v
dv du
u −v
or: ds d s d  −1  v  
τ= =  tan   
u2 + v2 ds   u 
s
 v v = u tan ( ϕ − c ) = ρ tan ( ϕ − c )
s
∫
ϕ = τ ds = tan −1   + c
0
u
   
and: r1 = r + ρ n + ρ tan ( ϕ − c ) b
We have one parameter family that describes the evolutes to the curve C. 28
SOLO
Evolute (continue – 2)
Curve C

t1 
t


r1 r Ce
Evolute
O
Evolute of Parabola
http://math.la.asu.edu/~rich/MAT272/evolute/ellipselute.html Evolute of Logarithmic Spiral

also a Logarithmic Spiral
Evolute of Ellipse 29
SOLO
Surfaces in the Three Dimensional Spaces  r × r
N = u v
dN ru × rv

The vector ( u, v ) defines a surface in E3
r
dΣ
1
∆ r ( u, v ) = r ( u + d u, v + d v ) − r ( u, v ) = d r + d r 2 + O/ 2 ( d u 2 , d v 2 )
  
v
rv d

dr d r2
2 P 
ru d u
∆r
= ( ru d u + rv d v ) + ( ru u d u 2 + 2 ru v d u d v + rv v d v 2 ) + O/ 2 ( d u 2 , d v 2 )
r ( u, v )
  1    

r ( u + d u, v + d v )
r ( u + d u, v )
2
 
 ∂r  ∂r O
The vectors ru =
and rv =
define the
P
∂u ∂v
tangent plane to the surface at point P.
P
 ru × rv
Define: N :=   Unit Normal Vector to the surface at P
ru × rv
First Fundamental Form:

     
I := d r ⋅ d r = ( ru ⋅ ru ) d u 2 + 2 ( ru ⋅ rv ) d u d v + ( rv ⋅ rv ) d v 2 = E d u 2 + 2 F d u d v + G d v 2
 E F  d u
I := d r ⋅ d r = [ d u  d v ]     > 0 → E > 0 , G > 0 , EG − F 2
>0
 F G d v            
Sylvester Condition for  E F  > 0 30
 F G 
SOLO
u
ru d
dr b

P 
rv d
v
Arc Length on a Path on the Surface: a


r ( u, v )
1/ 2
b
dr dr dr
b b
L= ∫ dt =  ⋅ ∫
 dt dt 
dt = [∫ ( r d u + r d v ) ⋅ ( r d u + r d v ) ]
u v u v
1/ 2
dt
O
a
dt a   a
1/ 2
  d u 
b   
1/ 2
  d u 2
b
 du d v  dv 
2
 d u d v E F   d t 
∫
L =  E 

a   d t
 + 2 F 
  d t
 
 d t
 + G 
  d t
 
 
∫
d t = 
a 
dt
  
d t   F G  d v  
dt
  d t 
 
Surface Area:
       
d Σ = ru d u × rv d v = ru × rv d u d v = ru rv sin ( ru , rv ) d u d v
dΣ
u
ru d
dr

P 
rv d
v
1/ 2
 
    
2


r ( u, v )
ru ⋅ rv
= ru rv [1 − cos 2 ( ru , rv ) ]
    1/ 2 
d u d v = ru rv 1 −    dudv
  ru rv 
 
  O
1/ 2
 F2 
= E G 1 −  dud v = E G− F2 dud v
 EG
Σ= ∫∫ dΣ= ∫∫ E G− F2 dud v
31
SOLO
   
d Σ = ru d u × rv d v = ru d u × rv d v
dΣ u
r ud
u
ru d
dr

P rv d

rv d
v
v

r ( u, v )
Change of Coordinates

Change of coordinates from u,v to θ,φ r = r ( u , v ) = r ( u , v ) O
u = u ( u, v )  d u  u u u v  u 
The coordinates are related by
v = v ( u, v )  d v  = v 
vv  v 
   u
E F  d u  u u vu   E F  u u u v  d u  E F  d u 
I = [d u d v]     = [d u d v]     = [d u d v]  =I
 F G  d v  u v vv   F G  vu vv  d v  F G  d v 
First Fundamental Form is Invariant to Coordinate Transformation

1/ 2 1/ 2
  d u    d u 
   
F   d t  F   d t 
1/ 2
d r d r   d u d v  E  d u d v  E
d L = ⋅  d t =      d t =     dt
dt dt 
   d t dt  F G  d v   d t d t  F G  d v 
  d t    d t 
     
E F  u v   E *
F *
  uu uv   uu uv   u,v 
E G − F = det = det   = E G − F det  = EG−F J  
2 u u 2 2
 det  * *  det 
F G  u v vv  F G   vu vv   vu v v   u, v 
 u,v 
d Σ = E G − F 2 d u d v = E G − F 2 J   d u d v = E G − F 2 d u d v
 u, v 
Arc Length on a Path on the Surface and Surface Area are Invariant of the Coordinates:
32
SOLO
 r × r
N = u v
dN ru × rv
Second Fundamental Form: II := − d r ⋅ d N dΣ
v
rv d

dr d r2
P  ∆r
     
ru d u
N ⋅ N = 1 → d N ⋅ N = 0 → d N = Nud u + Nvd v
r ( u, v ) 
r ( u + d u, v + d v )

r ( u + d u, v )
   
(
II := − d r ⋅ d N = − ( ru d u + rv d v ) ⋅ N u d u + N v d v ) O
 
( ) (
   
) 
(
= − ru ⋅ N u d u + − ru ⋅ N v − rv ⋅ N u d u d v + − rv ⋅ N v d v 2
 
2
    

)
L 2M N
= L d u 2 + 2 M d u d v + N d v2
 (
 d      
)
ru ⋅ N = ru u ⋅ N + ru ⋅ N u = 0
   
→ − ru ⋅ N u = ru u ⋅ N

( 
ru ⋅ N = 0 → ) du

( 
)
 d r ⋅ N = r ⋅ N + r ⋅ N = 0
 d v u uv u

v
   
→ ru ⋅ N v = − ru v ⋅ N
 d      
 ( )
rv ⋅ N = ru v ⋅ N + rv ⋅ N u = 0
   
→ rv ⋅ N u = − ru v ⋅ N
 
(
rv ⋅ N = 0 →  )du

( 
)
 d r ⋅ N = r ⋅ N + r ⋅ N = 0
 d v v vv v

v
   
→ rv ⋅ N v = − rv v ⋅ N 33
SOLO
 r × r
N = u v
dN ru × rv
dΣ
Second Fundamental Form: II := − d r ⋅ d N
v
rv d

dr d r2
P 
ru d u
∆r
( ) ( ) ( )

r ( u, v )
       

r ( u + d u, v + d v )

r ( u + d u, v)
II := − d r ⋅ d N = − ru ⋅ N u d u + − ru ⋅ N v − rv ⋅ N u d u d v + − rv ⋅ N v d v 2
2
       O

L 2M N
II := − d r ⋅ d N = L d u 2 + 2 M d u d v + N d v 2
               
− ru ⋅ N u = ru u ⋅ N ru ⋅ N v = − ru v ⋅ N rv ⋅ N u = − ru v ⋅ N rv ⋅ N v = − rv v ⋅ N
 
L = − ru ⋅ N u   
     L = ru u ⋅ N
− ru ⋅ N u = ru u ⋅ N 
   
ru ⋅ N v = − ru v ⋅ N 
  
    M = ru v ⋅ N
rv ⋅ N u = − ru v ⋅ N 
    
M = − ru ⋅ N v = − rv ⋅ N u 
 
N = − r v ⋅ N v   
N = rv v ⋅ N
    34
rv ⋅ N v = − rv v ⋅ N 
SOLO
 r × r
N = u v
ru × rv
Second Fundamental Form: II := − d r ⋅ d N 

rv d v
 dr
ru d u 
r ( u + d u, v + d v )
1 1
∆ r ( u, v ) = r ( u + d u, v + d v ) − r ( u, v ) = d r + d r 2 + d r 3 + O/ 3 ( d u 3 , d v 3 )
   
r ( u, v )
2 6 O
= ( ru d u + rv d v ) + ( ru u d u 2 + 2 ru v d u d v + rv v d v 2 )
  1   
2
+ ( ru uu d u 3 + 3 ruu v d u 2 d v + 3 ruv v d u d v 2 + rv vv d v 3 ) + O/ 3 ( d u 3 , d v 3 )
1    
6
   1 2  1 3  
∆ r ⋅ N = d r ⋅ N + d r ⋅ N + d r ⋅ N + O/ 3 ( d u , d v ) ⋅ N
3 3
 2 6
0
2
(
1   2     2 2
) 2

= ru u ⋅ N d u + 2 ru v ⋅ N d u d v + rv v ⋅ N d v + O/ 2 ( d u , d v ) ⋅ N
1  1
= ( L d u + 2 M d u d v + N d v ) + O/ 2 ( d u , d v ) ⋅ N ≈ II
2 2 2 2
2 2
35
SOLO
(i) Elliptic Case (ii) Hyperbolic Case (iii) Parabolic Case

LN − M2 > 0 LN − M2 < 0 LN − M2 = 0 &
L2 + N 2 + M 2 ≠ 0
 
N 
N N
36
SOLO 
rn 2

ru d u 
rn1

rv d

v
P
M2

r ( u, v )
M1
Dupin’s Indicatrix
O
We want to investigate the curvature propertiesat a point P. 
N
  1  1
∆ r ⋅ N = ( L d u + 2 M d u d v + N d v ) + O/ 2 ( d u , d v ) ⋅ N ≈ II
2 2 2 2 L N −M2 >0
2 2
The expression 
N
L x1 + 2 M x1 x2 + N x2 = 1
2 2

 rn1
rn 2 M1
was introduced by Charles Dupin in 1813 in “Développments P

de géométrie”, to describe the local properties of a surface.
http://www.groups.dcs.st-and.ac.uk/~history/Biographies/Dupin.html M2
L N −M2 <0


rn 2 N

rn1
P
Pierre Charles François
Dupin M1
1784 - 1873
M2
L N −M2 =0
37
http://www.mathcurve.com/surfaces/inicatrixdedupin/indicatrixdedupin.html L2 + N 2 + M 2 ≠ 0
SOLO
(iv) Planar Case

L=N = M =0
  1  
6
(   2
  2
 
)
∆ r ⋅ N = N ⋅ ru uu d u + 3 N ⋅ ruu v d u d v + 3 N ⋅ ruv v d u d v + N ⋅ rv vv d v 3 + O/ 3 ( d u 3 , d v 3 )
3
1
≈ ( A d u3 + B d u 2 d v + C d u d v2 + D d v3 )
6
 
N N
Ax + B x + C x+ D
3 2 A x3 + B x2 + C x + D
has 3 real roots has one real root
38
Monkey Saddle
SOLO Return to Table of Contents


Change of coordinates from u,v to θ,φ r = r ( u , v ) = r ( u , v )
u = u ( u, v )  d u  u u u v  u 
    v = v ( u, v )  d v  = v 
vv  v 
 ru × rv r ×r    u
N :=   = ± u v Unit Normal Vector to the surface at P
ru × rv ru × rv
  ∂u  ∂v     ∂u  ∂v  
ru = ru + rv = ru uu + rv vu rv = ru + rv = ru u v + rv vv
∂u ∂u ∂v ∂v
  
[ 2  
] 
[
L = ru u ⋅ N = ru u ( uu ) + 2 ru v uu vu + rv v ( vu ) ⋅ N = ± L ( uu ) + 2 M uu vu + N ( vu )
2 2 2
]
  
[ ]

[   
]
M = ru v ⋅ N = ru u uu u v + rv u vu u v + ru v uu vv + rv v vu vv ⋅ N = ± L uu u v + M ( vu u v + uu vv ) + N vu vv
  
[ 2  
] 
[
N = rv v ⋅ N = ruu ( u v ) + ruv u v vv + rvu vv u v + rvv ( vv ) ⋅ N = ± L ( u v ) + 2 M u v vv + N ( vv )
2 2 2
]
 L M  d u   u u vu   L M   u u u v   d u   L M   d u
II = [ d u d v ]    = [ d u d v ]      = ± [ d u d v ]     = ± II
 M N   d v   u v vv   M N   vu vv   d v   M N  39
d v
Second Fundamental Form is Invariant (unless the sign) to Coordinate Transformation
SOLO
Normal Curvature Osculating Principal Normal

Plane of C  Line of C at P
 
Given a path r = r ( u ( t ) , v ( t ) ) on a surface of class

at P N k
1n 
Ck ( k ≥ 2) we define: t
(
d s = d r = d r⋅d r ) 1/ 2
- Length differential
P
 dr dr dr - unit vector of path C at P

t := = / Surface

r ( u, v )
ds dt dt (tangent to C at P)
 dt dt dr
k := = / - curvature vector of path C at P
ds dt dt  d t 1 1n ⋅1n = 1
k= = k 1n = 1n 
ds ρ  ρ radius of curvature

( )
  
k n := k ⋅ N N - normal curvature vector to C at P
k := ( k ⋅ N )
 
- normal curvature to C at P
( )
n

= k 1n ⋅ N = k cos α = cos α / ρ
40
SOLO
Osculating Principal Normal

Plane of C  Line of C at P

at P N k
Normal Curvature (continue – 1) 1n 
t
 P
Because C is onthe surface, t is on the tangent
plan normal to N .
   
 
(  
)     
d dt dN dt dN Surface r ( u, v )
t ⋅N = 0 → t ⋅N = ⋅N +t ⋅ =0 → ⋅ N = −t ⋅
dt dt dt dt dt
   
and   d t  d t  d r  dN dr
 
dr dN dr
2
kn = k ⋅ N = ⋅N = ⋅N / = −t ⋅ / =− ⋅ /
ds dt dt dt dt dt dt dt
   
dr dN dr dr
=− ⋅ /  ⋅ 
dt dt  dt dt 
 
(  
)    
= − ( ru d u + rv d v ) ⋅ N u d u + N v d v /[ ( ru d u + rv d v ) ⋅ ( ru d u + rv d v ) ]
2 2 2
 du  du d v  dv  du  du
L   + 2 M     + N   L 
 
 + 2 M   + N
 d t   d t   d t   d t  L d u + 2 M d u d v + N d v II
2 2
 d v   dv
kn = = = =
+ +
2 2 2 2 2
 du  du d v  dv E d u 2 F d u d v G d v I  du  du
E   + 2 F     + G   E   + 2 F   + G
 dt   dt  dt   dt   dv  d41v 
SOLO
Normal Curvature (continue – 2)

2 2 2
 du  du d v  dv  du  du
L   + 2 M     + N   L 
 
 + 2 M   + N
dt  dt  dt   d t  = L d u + 2 M d u d v + N d v = II =  d v   dv
2 2
kn =   2
+ +
2 2 2 2
 du  du d v  dv E d u 2 F d u d v G d v I  du  du
E   + 2 F     + G   E   + 2 F   + G
 dt   dt  dt   dt   dv  dv
- kn is independent on dt therefore on C.
u
ru d
dr

C2
P 
- kn is independent on coordinates since I and II are independent. rv d

v

C1 kC 2  
r ( u, v )
- kn is a function of the surface parameters L, M, N, E, F, G
k C1 
N
du O
and of the direction d v .
- Because I = E du2 + 2 F du dv + G dv2 > 0 → sign kn=sign II
42
SOLO
Principal Curvatures and Directions

2
 du  du
L 
 
 + 2 M   + N
u
ru d
dr

C2
L d u + 2 M d u d v + N d v II
2 2
 d v   dv P 
rv d
kn = = =
v
E d u2 + 2 F d u d v + G d v2 I
2
 du  du C1

E   + 2 F   + G
kC 2  
k C1  r ( u, v )
 dv  dv
N
O
du
- kn is a function of the surface parameters L, M, N, E, F, Gand of the direction dv
.
Let find the maximum and minimum of kn as functions of the directions d u/ d v.

If this occurs for d u0/ d v0 we must have:
∂ kn I II d u − I d u II ∂ kn I II d v − I d v II
= 0 0
=0 & = 0 0
=0
∂u ( d u0 , d v0 )
I 2
( d u0 , d v0 )
∂v ( d u0 , d v0 )
I 2
( d u0 , d v0 )
Multiply by I and use II

k n0 =
I ( d u0 , d v0 )
∂ kn0 ∂ kn0
∂u
 II 
=  II d u − I d u 
I
(
= II d u − k n I d u )( d u0 , d v0 )
=0 &
∂v
 II 
=  II d v − I d v 
I
= II d v − k n I d v ( (
du ,d v )
=0 )
  (du ,d v )   (du ,d v ) 43
0 0 0 0 0 0 0 0
0 0
( d u0 , d v0 ) 0 0 ( d u0 , d v0 ) 0 0
SOLO
Principal Curvatures and Directions (continue – 1)

∂ kn0 ∂ k n0
∂u
(
= II d u − k n I d u )( =0 &
∂v
(
= II d v − k n I d v )( =0
u
d u0 , d v0 ) d u0 , d v0 )
ru d
0 0 0 0 dr

C2
( d u0 , d v0 ) ( d u0 , d v0 ) P 
rv d
v

C1 kC 2 
I := d r ⋅ d r = E d u + 2 F d u d v + G d v

2 2 k C1  r ( u, v )
N
O
II := − d r ⋅ d N = L d u 2 + 2 M d u d v + N d v 2
I d u = 2 E d u 0 + 2 F d v0
0
I d v = 2 F d u 0 + 2 G d v0
0
II d u = 2 L d u 0 + 2 M d v0 II d v = 2 M d u 0 + 2 N d v0
0
0
∂ kn0
(
= II d u − k n I d u )( =0 (L du 0 + M d v 0 ) − k n ( E d u 0 + F d v0 ) = 0
∂u ( d u0 , d v0 )
0 0 d u0 , d v0 ) 0
∂ kn0
∂v
(
= II d v − k n I d v
0 0
)( d u0 , d v0 )
=0 (M du 0
+ N d v 0 ) − k n ( F d u 0 + G d v0 ) = 0
0
( d u0 , d v0 )
44
SOLO
 ( L d u 0 + M d v0 ) − k n ( E d u 0 + F d v0 ) = 0
u
ru d
dr
We found: 

0
C2
 ( M d u 0 + N d v0 ) − k n ( F d u 0 + G d v0 ) = 0
P 
rv d
v
0 
C1 kC 2  
k C1  r ( u, v )
N
or:  L − k n E M − k n F   d u0   0  O
 0
 0
 =  

 M − k n F N − k n G  d v0  0 
 0  0
This equation has non-trivial solution if:
 L − kn E M − kn F 
det  =0
0 0
 M − kn F N − kn G 
 0  0
or expending: (E G − F ) k 2
n0
2
− ( E N + G L − 2 F M ) kn + ( L N − M 2 ) = 0
0
45
SOLO

Study of the quadratic equation:
u
ru d
dr

(E G − F ) k − ( E N + G L − 2 F M ) kn + ( L N − M 2 ) = 0
C2
2
P 
rv d
2 v
n0 0 
C1 kC 2  
k C1  r ( u, v )
The discriminant of this equation is: N
∆ = (E N + G L− 2 F M ) − 4 (E G − F2) (L N − M 2) O
2
2
 E G− F2  2 2 2 2  E G− F2  2 2  F 2L F 2L 
= 4  2
 ( E M + F L − 2 E M F L ) − 4  2
 ( F L − 2 E M F L + L N E ) +  E N − G L − 2 F M + 2
2
+ 2G L− 2 
 E   E   E E 
2
 E G− F2   F  F 2G L2 F 4 L2 F 3L M
= 4   ( E M − F L ) +  E N − G L − 2 ( E M − F L )  − 4 + 4 2 + 8 F G M L− 8 − 4 E G L N + 4 F 2L N
2
2
 E   E  E E E
F 4 L2 F 2 G L2 F 3L M F 4 L2
+4 2 −4F LN+4
2
+8 −8 2 + 4 E G L N
E E E E
F 2 G L2 F 2 G L2
− 4G L −8 F G M L+8
2 2
+ 4G L −8
2 2
E E
∆ = (E N +G L − 2 F M ) − 4 (E G − F 2 ) (L N − M 2 )
2
 ≥0


 E G−F2   F 
2
≡4  ( E M − F L) + E N − G L − 2 ( E M − F L)  ≥ 0
2
E 2
E 46
   
 
SOLO
u
ru d
dr

C2
P 
rv d
Principal Curvatures and Directions (continue – 4) v

C1 kC2 
Study of the quadratic equation (continue – 1): k C1 
N

r ( u, v )
(E G − F ) k
2
n0
2
− ( E N + G L − 2 F M ) kn + ( L N − M 2 ) = 0
0
O
The discriminant of this equation is:

∆ = ( E N +G L −2 F M ) −4 ( E G − F 2 ) ( L N − M 2 )
2
 ≥0


 E G −F 2   F 
2
≡4   ( E M − F L ) + E N − G L − 2 ( E M − F L ) ≥ 0
2
2
 E   E 
 
 
The discriminant is greater or equal to zero, therefore we always obtain two real solutions
that give extremum for kn: k n , k n 1 2
Those two solutions are called Principal Curvatures and the corresponding two directions
are called Principal Directions ( d u1 , d v1 ) , ( d u 2 , d v2 )
F
The discriminant can be zero if: ( E M − F L) = 0 & E N −G L− 2 ( E M − F L) = 0
E
L M N
E M −F L= 0 & E N−G L= 0 = =
E F G
This point in which kn is constant
Ld u + 2M d ud v + N d v
2 2
L M N in all directions is called an
47
In this case: k n = = = =
Edu + 2F dud v+ Gd v
2 2
E F G Umbilical Point.
SOLO
u
Gaussian and Mean Curvatures
ru d
dr

C2
P 
rv d
v
Rewrite the equation: 
(E G − F ) k − ( E N + G L − 2 F M ) kn + ( L N − M ) = 0
C1 kC 2  
2 k C1 r ( u, v )
2 2 
N
n0 0
O
as:
kn
2
−
( E N +G L− 2 F M)
k +
( LN−M )2
=0
0
(E G − F )
2 n0
(E G − F )
2
We define:
H := k n + k n =−
( E N + G L− 2 F M)
1 2
(E G − F ) 2
Mean Curvature
K := k n k n =
(L N − M ) 2
Gaussian Curvature
1 2
(E G − F ) 2
Karl Friederich
48 Gauss
1777-1855
SOLO
u
ru d
dr

C2
P 
rv d
v
Gaussian and Mean Curvatures (continue – 1) 
(L N − M )
C1 kC 2  
2 kC1  r ( u, v )
N
K := k n k n =
1 2
(E G − F )
Gaussian Curvature
2 O
  
Change of coordinates from u,v to θ,φ r = r ( u , v ) = r ( u , v )
u = u ( u, v )  d u  u u u v  u 
v = v ( u, v )  d v  = v v  v 
   u v 
u u vu   E F  u u u v  d u  E F  d u 
We found: I = [d u d v]     = [d u d v]  =I
u v vv   F G  vu vv  d v  F G  d v 
2 2
E F  u u vu   E F  u u uv   E F    uu u v     uu uv  
F =
G  u v

vv   F
 
E F
E G − F 2 = det   = det    det    = E G − F
2
( )  det 
  
 G  vu vv   F G  F G    vu vv   v
  u v v
 uu vu   L M   uu u v   d u   L M   d u
II = [ d u d v]       = ± [ d u d v]    d v  = ± II
uv vv   M v v
N   u v    d v  M N  
 L M   uu vu   L M   uu uv  L M   L M   u u  
2
  uu uv  
2
 M N  = ± u   − = =   det    = ( L N − M )  det   
u v

2 2
L N M det M N det 
vv   M 
   v N   vu vv     M N    v v   u v   vu v v  
Therefore: K := k n k n =
( L N − M ) = (L N − M )
2 2
49
invariant to coordinate changes
1 2
( E G − F ) (E G − F )
2 2
SOLO

Start with:
 ( L d u 0 + M d v0 ) − k n ( E d u 0 + F d v0 ) = 0
u
ru d
dr

C2
P 
rv d
v

0
 ( M d u 0 + N d v0 ) − k n ( F d u 0 + G d v0 ) = 0
0
C1

kC 2 
k C1 

r ( u, v )
N
rewritten as : O
 L d u 0 + M d v0 E d u 0 + F d v0   1   0
    =  
  0
 M d u 0 + N d v0 F d u 0 + G d v0   − k n 0   
that has a nontrivial solution (1,-kn0) only if:
 L d u 0 + M d v0 E d u 0 + F d v0 
det   = 0
 M d u 0 + N d v0 F d u 0 + G d v0 
or: (L F − EM) du 0
2
+ ( L G − E N ) d u 0 d v0 + ( G M − F N ) d v0 = 0
2
2
or:  d u0   d u0 
( L F − E M )   + ( L G − E N )   + ( G M − F N ) = 0
  50
 d v0   d v0 
SOLO
u
ru d
dr

C2
P 
rv d
v
We obtained: 
C1 kC2  
2 k C1 r ( u, v )
 d u0   d u0 

( L F − E M )   + ( L G − E N )   + ( G M − F N ) = 0
N
O
 d v0   d v0 
     
r = r d u
This equation will define the two Principal Directions n u 1 v 1 + r d v & rn = ru d u12 + rv d v2 2
From the equation above we have:

d u1 d u 2
+ =−
(L G − E N) d u1 d u 2 ( G M − F N )
=
d v1 d v2 (L F − EM) d v1 d v2 ( L F − E M )
Let compute the scalar product of the Principal Direction Vectors:
       
rn ⋅ rn = ( ru ⋅ ru ) d u1 d u 2 + ( ru ⋅ rv ) ( d u1 d v2 + d u 2 d v1 ) + ( rV ⋅ rv ) d v1d v2
1 2
 d u1 d u 2  d u1 d u 2  
= E + F  +  + G  d v1d v2
 d v1 d v2  d v1 d v2  
 (G M − F N ) ( L G − E N)  The Principal Direction Vectors
= E −F + G  d v1d v2 ≡ 0 are perpendicular. 51
 (L F − EM) (L F − EM) 
SOLO
u
ru d
dr

C2
P 
rv d
v
Let perform a coordinate transformation to the Principal
Direction: ( u , v )

C1 kC2  
k C1  r ( u, v )
N
Since the two Principal Directions are orthogonal O

   
( d u ,0 )
1 & ( 0, d v2 ) rn = ru d u1 & rn = rv d v2
1 2
They must satisfy the equation:
( L F − E M ) d u + ( L G − E N ) d u d v + (G M − F N ) d v
0
2
0 0 0
2
=0
or:
(L F − E M ) d u  
du ≠ 0
2
=0 L F−EM =0 E≠0 F = ru ⋅ rv = 0
1
1
  at P
(G M − F N ) d v M = ru v ⋅ N = 0
d v2 ≠ 0
2
2
=0 G M−F N =0 G≠0
Definition:
A Line of Curvature is a curve whose tangent at any point has a direction
coinciding with a principal direction at that point. The lines of curvature
are obtained by solving the previous differential equation 52
SOLO
u
ru d
dr

C2
P
Rodriguez Formula

rv d
v
We found:      
L = −r ⋅ N = r ⋅N E = ru
⋅ ru C1

kC2 
k C1

r ( u, v )
        
u u uu N
M = − ru ⋅ N v = − rv ⋅ N u = ru v ⋅ N F = ru ⋅ rv O
     
G = rv ⋅ rv
N = − rv ⋅ N v = rv v ⋅ N
Suppose (du0,dv0) is a Principal Direction, then they
 must satisfy
 the equations:
 ( L d u 0 + M d v0 ) − k n ( E d u 0 + F d v0 ) = 0

( 
)    
 − ru ⋅ N u d u0 − ru ⋅ N v d v0 − k n ( ru ⋅ ru d u0 + ru ⋅ rv d v0 ) = 0

   
( )
0
 
0
( M d u0 + N d v0 ) − k n ( F d u0 + G d v0 ) = 0  − rv ⋅ N u d u0 − rv ⋅ N v d v0 − k n ( ru ⋅ rv d u0 + rv ⋅ rv d v0 ) = 0

0 0
[(  
)   
 − N u d u 0 − N v d v0 − k n ( ru d u 0 + rv d v0 ) ⋅ ru = 0] (
  
 d N + k n d r ⋅ ru = 0 )
[(  
) ]  
( )
0 0
     
 − N u d u 0 − N v d v0 − k n ( ru d u 0 + rv d v0 ) ⋅ rv = 0  d N + k n d r ⋅ rv = 0
 
0
  0

But d N + k n d r are in the tangent plane  at P since and d r are, and the ru
 d N
rv and
0
vectors d N + kn d r = 0
are independent, therefore:
0
The direction (du0,dv0) is a Principal Direction on a point on a surface if and only if

     
from some scalar k, d N = N d u + N d v and d r = ru d u 0 + rv d v0 satisfy:
 u 0 v 0
 Rodriguez Formula 53
d N = −k d r Return to Table of Contents
SOLO
Conjugate Directions l
Let P (u,v) and Q (u+du,v+dv) neighboring points on a

surface. The tangent planes to the surface at p and Q Q
u
ru d
dr

P 
intersect along a straight line L. Now let Q approach P rv d
v
along a given direction (du/ dv=const= PQ), then the line l 

r ( u, v )
will approach a limit LC. The directions PQ and LC are
  
N N+d N
called Conjugate Directions. O

  
Let N be the normal at P and N + d N the normal at Q.
  
Let the direction of LC be given by: δ r = ru δ u + rv δ v
Since LC is in both tangential
 planes at P and at
 Q we have:
 
(

δ r⋅N = 0 & δ r⋅ N+d N = 0 )   
(  
δ r ⋅ d N = ( ru δ u + rv δ v ) ⋅ N u d u + N v d v = 0 )
(
 
) (
 
) (
 
) (
 
)
ru ⋅ N u δ u d u + rv ⋅ N u δ v d u + ru ⋅ N v δ u d v + rv ⋅ N v δ v d v = 0
       
We found L = − ru ⋅ N u & M = − ru ⋅ N v = − rv ⋅ N u & N = − r v ⋅ N v
The previous relation becomes: L δ u d u + M ( δ v d u + δ u d v ) + N δ v d v = 0

Given (du,dv) there is only one conjugate direction (δu,δv) given by the previous
equation. 54
SOLO
Asymptotic Lines
The directions which are self-conjugate are called asymptotic directions.
Those curves whose tangents are asymptotic directions are called asymptotic lines.
du δu
If a direction (du,dv) is self-conjugate than = and the equation of
conjugate lines dv δv
L δ u d u + M ( δ v d u + δ u d v) + N δ v d v = 0
becomes: L d u2 + 2 M d u d v + N d v2 = 0
We see that the asymptotic directions are those for which the second fundamental
form vanishes. Moreover, the normal curvature kn vanishes for this direction.
The conjugat and asymptotic lines were introduced by Charles
Dupin in 1813 in “Dévelopments de Géométrie”.
http://www.groups.dcs.st-and.ac.uk/~history/Biographies/Dupin.html
Pierre Charles François

Dupin
1784 - 1873
55
SOLO
Planar Curves
Nephroid (meaning 'kidney shaped')
 a
 x = ( 3 cosθ − cos 3θ )
2

a
y =

( 3 sin θ − sin 3θ )
2
http://mathworld.wolfram.com/Nephroid.html
http://curvebank.calstatela.edu/nephroid/nephroid.htm
Freeth’s Nephroid r = 1 + b sin ( θ / 2) http://www-groups.dcs.st-and.ac.uk/~history/Curves/Freeths.html
http://www.2dcurves.com/derived/strophoidn.html
T J Freeth (1819-1904) was an
English mathematician. In a
paper published by the London
Mathematical Society in 1879
he described various strophoids,
including the strophoid of a
trisectrix.
56
SOLO
Planar Curves
Bow Tie Double Rose
r = 1+ 2 sin ( 2 θ ) r = 1+ 3 sin ( 3 θ )
http://curvebank.calstatela.edu/index/bowtie2.gif
57
SOLO
Planar Curves
 3 1
 x = cos θ − cos 3θ
2 2

 y = − 3 sin θ − 1 sin 3θ
 2 2
Parabolic Spiral
r= a θ +b
58
SOLO
Planar Curves
2 θ (3 + 4 θ 2 )
Fermat Spiral r=a θ k=
a (1 + 4 θ 2 )
3/ 2
This spiral was discussed by Fermat in 1636
Pierre Fermat
1601 - 1665
http://www.wco.com/~ejia/eduframe.htm http://www-groups.dcs.st-and.ac.uk/~history/Curves/Fermats.html
59
SOLO
Planar Curves
Archimedean Spiral r = a + bθ
http://en.wikipedia.org/wiki/Archimedean_spiral
Hyperbolic Spiral
a
r=
θ r = a θ −π / 2 60
http://en.wikipedia.org/wiki/Hyperbolic_spiral
SOLO
Planar Curves
Equiangular Spiral http://xahlee.org/SpecialPlaneCurves_dir/EquiangularSpiral_dir/equiangularSpiral.html
Equiangular spiral (also known as logarithmic spiral,

Bernoulli spiral, and logistique) describe a family of
spirals. It is defined as a curve that cuts all radii vectors
at a constant angle.
The famous Equiangular Spiral was discovered by

Descartes, its properties of self-reproduction by
James (Jacob) Bernoulli (1654-1705) who requested that
the curve be engraved upon his tomb with the phrase
Logarithmic Spiral "Eadem mutata resurgo" ("I shall arise the same,
though changed.") René Descartes
1596 - 1650
Jacob Bernoulli
1654-1705
Nautilus Shells
r = a eb θ 61
http://en.wikipedia.org/wiki/Logarithmic_spiral http://mathworld.wolfram.com/LogarithmicSpiral.html
SOLO
Planar Curves
Equiangular (Logarithmic, Bernoulli) Spiral r = a e b θ
Evolute of Logarithmic Spiral

also a Logarithmic Spiral
62
SOLO
Planar Curves
Equiangular (Logarithmic, Bernoulli) Spiral r = a e b θ
http://www2.mat.dtu.dk/people/V.L.Hansen/nautilus/naustory.html
If the circles of curvature of the logarithmic spiral are placed so that they are
centered on the curve and are othogonal both to the curve and to the plane of the
curve, then a Nautilus shell appears.
63
SOLO
Planar Curves
Cycloid
Cycloid is defined as the trace of a point on
the circumsference of a circle rolling on
a line without slipping.
 x = a ( t − sin 2 t )

 y = a ( 1 − cos 2 t )
http://mathworld.wolfram.com/Cycloid.html http://xahlee.org/SpecialPlaneCurves_dir/Cycloid_dir/cycloid.html
Curtate Cycloid
Curtate Cycloid is defined as the trace of
a fixed point at a distance b from the center
of a circle of radius a rolling on a line
without slipping.
 x = a t − b sin t

 y = a − b cos t
64
http://mathworld.wolfram.com/CurtateCycloid.html
SOLO
Planar Curves
Prolate Cycloid
The path traced out by a fixed point at a

radius b>a , where a is the radius of a rolling
circle, also sometimes called an extended
cycloid. The prolate cycloid contains loops,
and has parametric equations:
 x = a t − b sin t

 y = a − b cos t
http://mathworld.wolfram.com/ProlateCycloid.html
65
SOLO
Planar Curves
Epicycloid
Epicycloid is defined as the trace of a point P on the
circumsference of a circle rolling on a circle without slipping.
k = a/b
  cos ( ( k + 1) θ ) 
 x ( θ ) = r ( k + 1)  cos θ − 
  k + 1 

 y = r ( k + 1)  sin θ − sin ( ( k + 1) θ ) 
http://en.wikipedia.org/wiki/Epicycloid
  k +1 
http://mathworld.wolfram.com/Epicycloid.html
66
SOLO
Planar Curves
Epicycloid Involute
Epicycloid
  a + b  
 x (θ ) = ( a + b ) cos θ − b cos  θ
  b  

 y = ( a + b ) sin θ − b sin  a + b  θ 
   
  b  
http://mathworld.wolfram.com/Epicycloid.html
Epicycloid Involute
 a + 2 b   a + b   
 x (θ ) = ( a + b ) cos θ + b cos   θ 
 a   b   

 a + 2 b   a + b   
 y =  ( a + b ) sin θ + b sin   θ 
 a   b   
http://mathworld.wolfram.com/EpicycloidInvolute.html
67
SOLO
Planar Curves
Cardioid
Johann Castillon Philippe de la Hire

1704 - 1791 1640 - 1718
  1 
 x = 2 r  cos t − cos 2 t 
  2 
 r = a (1− cos θ )
 y = 2 r  sin t − 1 sin 2 t 
  2 
http://en.wikipedia.org/wiki/Cardioid
Studied by Roemer (1674) in an investigation for the best form of gear teeth.
The name cardioid (heart-shaped; from Greek root cardi, meaning heart) was first used
by de Castillon in the Philosophical Transactions of the Royal Society of 1741.
Its length is found by La Hire in 1708.
Cardioid is a special case of Limaçon (or Snail) of Pascal and is an
Epicycloid (k = 1).
Cardioid is defined as the trace of a point on the
circumsference of a circle rolling on a circle with equal radius
68
without slipping.
SOLO
Planar Curves
Ranunculoid
An epicycloid with n = 5 cusps, named after the buttercup genus Ranunculus

(Madachy 1979).
http://mathworld.wolfram.com/Ranunculoid.html
69
SOLO
Planar Curves
Limaçon of Pascal or Snail of Pascal
r = b + a cos θ
http://xahlee.org/SpecialPlaneCurves_dir/LimaconOfPascal_dir/limaconOfPascal.html
Blaise Pascal
http://mathworld.wolfram.com/Limacon.html 1623 - 1662
Discovered and named after Etienne Pascal (1588-1640) , father of Blaise Pascal.
Also discussed by Roberval in 1650.
70
SOLO
Planar Curves
Hypotrohoid
The curve produced by fixed point P at a distance h from the center of a small circle
of radius b rolling without slipping around the inside of a large circle of radius a > b.
  a−b 
 x ( θ ) = ( a − b ) cos θ + b cos  θ
  b 

 y = ( a − b ) sin θ − b sin  a − b θ 
  b 
http://mathworld.wolfram.com/Hypotrochoid.html
71
SOLO
Planar Curves
Hypocycloid
The curve produced by fixed point P on the circumference of a small circle of radius b
rolling without slipping around the inside of a large circle
of radius a > b. A hypocycloid is a hypotrochoid with h=b .
  a−b 
 x ( θ ) = ( a − b ) cos θ + b cos  θ
  b 

 y = ( a − b ) sin θ − b sin  a − b θ 
  b 
http://mathworld.wolfram.com/Hypocycloid.html
72
SOLO
Planar Curves
Hypocycloid Involute
 a   a − b 
 x (θ ) =  ( a − b ) cos θ + b cos  θ 
Hypocycloid  a − 2 b   b 

 y = a  ( a − b ) sin θ − b sin  a − b θ  
   
 a−2b   b 
http://mathworld.wolfram.com/Hypocycloid.html
http://mathworld.wolfram.com/HypocycloidInvolute.html
 a− 2b   a − b 
 x ( θ ) =  ( a − b ) cos θ + b cos  θ 
 a   b 
Hypocycloid Involute 
 y = a − 2 b  ( a − b ) sin θ − b sin  a − b θ  
   
 a   b 
73
SOLO
Planar Curves
Steiner’s Hypocycloid (Deltoid)
 a
 x = ( 2 cos θ + cos 2θ )
 3

 y = a ( 2 sin θ − sin 2θ )

 3
http://mathworld.wolfram.com/Deltoid.html
http://mathworld.wolfram.com/SteinersHypocycloid.html
The deltoid was first considered by Euler in 1745 in

connection with an optical problem. It was also
Leonhard Euler
investigated by Steiner in 1856 and is sometimes called 1707 - 1783
Steiner's hypocycloid
Jacob Steiner
1796 - 1863 74
SOLO
Planar Curves
Astroid
 x = a cos 3 θ

 y = a sin θ
3
The Astroid was tudied by Johan Bernoulli (1667 – 1748) ,by D’Alembert
in 1748. The name was given by Littrow in 1838.
The Astoid can be obtained as a hypocycloid with b/a=1/4 or 3/4
Johann Bernoulli
1667-1748
Jean Le Rond D’Alembert

1717 - 1783
The astroid is the curve obtained by the

The astroid is the curve performed by intersection of two circles rolling without 75
a bus door slipping inside a bigger circle.
SOLO
Planar Curves
Lituus
Roger Cotes
1682 - 1716
1
r= The Lituus curve was studied by Roger Cotes
θ
76
http://www-groups.dcs.st-and.ac.uk/~history/Curves/Lituus.html http://curvebank.calstatela.edu/hyperbolafermat
SOLO
Planar Curves
Cisoid of Diocles
r = 2 a ( secθ − cos θ ) = 2 a sin θ tan θ − π / 2 ≤ θ ≤ π / 2
http://en.wikipedia.org/wiki/Cissoid_of_Diocles http://local.wasp.uwa.edu.au/~pbourke/surfaces_curves/cissoiddiocles/
The cissoid of Diocles is named after the Greek geometer Diocles who used it in
180 B.C. to solve the Delian problem: how much must the length of a cube be increased
in order to double the volume of the cube?
The name "cissoid" first appears in the work of Geminus about 100 years later.
Fermat and Roberval constructed the tangent in 1634. Huygens and Wallis found,
in 1658, that the area between the curve and its asymptote was (MacTutor Archive).
77
From a given point there are either one or three tangents to the cissoid.
SOLO
Planar Curves
Sinusoid Spiral
A sinusoidal spiral is a curve of the form: r n = a n cos ( n θ ) with n rational, which is
not a true spiral.
n curve
2- hyperbola
1- line
parabola
Tschirnhausen
cubic
Cayley;s sextic
cardioid
n +1
The curvature is: k (θ ) =
a cos1 / n−1 ( n θ )
1 circle
2 lemniscate
78
SOLO
Planar Curves
The curve is obtained by drawing a line
Witch of Agnesi
from the origin through the circle of radius
a and center (0,a), then picking the point
with the y coordinate of the intersection with
the circle and the x coordinate of the
Maria Gaetana Agnesi
intersection of the extension of line OB with 1718 - 1799
the line y = 2 a .
x = 2 a cot t

 y = a (1 − cos 2 t )
Pierre Fermat
1601 - 1665
http://mathworld.wolfram.com/WitchofAgnesi.html
This was studied and named versiera by Maria Agnesi in 1748 in her book
Istituzioni Analitiche. It is also known as Cubique d'Agnesi or Agnésienne.
The curve had been studied earlier by Fermat and Guido Grandi in 1703
The name "witch" derives from a mistranslation of the term averisera ("versed sine curve,"
from the Latin vertere, "to turn") in the original work as avversiera ("witch" or "wife of the
devil") in an 1801 translation of the work by Cambridge Lucasian Professor of Mathematics Luigi Guido Grandi
John Colson (Gray). 1671 -79
1742
http://www-groups.dcs.st-andrews.ac.uk/%7Ehistory/Curves/Witch.html
SOLO
Planar Curves
Cassini Ovals
The Cassini ovals are a family of quartic curves, also called Cassini ellipses,
described by a point such that the product of its distances from two fixed points a
distance 2 a apart is a constant b2. The shape of the curve depends on b/a. If a < b ,
the curve is a single loop with an oval (left figure above) or dog bone (second figure)
shape. The case a = b produces a lemniscate (third figure). If a > b, then the curve
[
consists of two loops (right figure).
][ ]
( x − a) 2 + y 2 ( x + a) 2 + y 2 = b4
(x 2
+ y 2 + a2 ) − 4 a2 x2 = b4
2
r 4 + a 4 − 2 a 2 r 2 cos ( 2 θ ) = b 4
The curve was first investigated by Cassini in 1680 when he was Giovanni Domenico Cassini
studying the relative motions of the Earth and the Sun. Cassini 1625 - 1712
believed that the Sun traveled around the Earth on one of these ovals,
with the Earth at one focus of the oval.
80
SOLO
Planar Curves
Lemniscate
The Cartesian equation: (x 2
+ y2 ) = 2 x y
2
In polar form: r 2 = sin ( 2 θ )
81
SOLO
Planar Curves
Lemniscate of Bernoulli
The lemniscate, also called the lemniscate of Bernoulli, is a polar curve whose most
common form is the locus of points the product of whose distances from two fixed points
(called the foci) a distance 2c away is the constant c 2. This gives the Cartesian equation:
[( x − c ) 2
+ y2 ] [( x + c ) 2
]
+ y2 = c4 (x 2
+ y2 ) = 2 c2 ( x2 − y2 )
2
http://mathworld.wolfram.com/Lemniscate.html
In polar form: r = 2 c cos ( 2 θ )

2 2
Jakob Bernoulli published an article in Acta Eruditorum in 1694 in

which he called this curve the lemniscus (Latin for "a pendant
ribbon"). Bernoulli was not aware that the curve he was describing
was a special case of Cassini Ovals which had been described by
Cassini in 1680. The general properties of the lemniscate were Jacob Bernoulli
discovered by G. Fagnano in 1750 (MacTutor Archive) 1654-1705
The most general form of the lemniscate is a toric section of a torus.

82
http://www-groups.dcs.st-and.ac.uk/~history/Curves/Lemniscate.html
SOLO
Planar Curves J. Booth (1810 -1878 ) : ????
Ovales &Lemniscate of Booth
(x + y 2 ) = a2 x2 +ε b2 y2
2 2
ε = 1 ( 0 ≤ b < a ) Ovale
ε = −1 Lemniscate
http://www.mathcurve.com/courbes2d/booth/booth.shtml
In polar form: r = a cos θ + ε b sin θ

2 2 2 2 2
The Ovales of Booth are the locus of the center of an ellipse rolling without slipping around
an identical Ellipse.
83
SOLO
(x + y 2 ) = a2 x2 +ε b2 y2
2 2
ε = 1 ( 0 ≤ b < a ) Ovale

2 2 2 2 2
The Lemniscate of Booth are the locus of the center of a hyperbole rolling without
slipping on an equal hyperbole.
84
On en déduit que les lemniscates de Booth sont les lieux du centre d'une hyperbole
roulant sans glisser sur une hyperbole égale, avec des sommets coïncidants.
SOLO
(x + y 2 ) = a2 x2 +ε b2 y2
2 2
ε = 1 ( 0 ≤ b < a ) Ovale

2 2 2 2 2
Ce sont donc les enveloppes de cercle

de diamètre joignant le centre d'une
conique à un point de cette conique
The envelopes of the circle

with a diameter that joints the
center of a conic with a point
on the circle.
85
SOLO
Planar Curves
Concoid (cochloid) of Nicomedes
http://www.oberonplace.com/products/plotter/gallery/page2.htm
http://mathworld.wolfram.com/ConchoidofNicomedes.html Nicomedes
r = a + b sec θ
http://nvizx.typepad.com/nvizx_weblog/2005/08/conchoid_of_nic.html
Nicomedes (circa 280 BCE - 210 BCE) is best known for his treatise on conchoids,
a family of curves of one parameter. This family, now known as the Conchoid of
Nicomedes, has a number of interesting properties and uses. Classical applications
included the trisection of an angle and a means of solving the Greek cube doubling
problem. In two dimensions, a family of these curves can be generated by varying
the parameters a and b while plotting the
http://curvebank.calstatela.edu/conchoid/conchoidforever.gif 86
SOLO
Planar Curves
Roses
http://xahlee.org/SpecialPlaneCurves_dir/Rose_dir/rose.html
p 
r = a cos  θ + ϕ 0 
q 
87
SOLO
Planar Curves
Roses
p 
r = a cos  θ + ϕ 0 
q 
88
SOLO
Planar Curves
Roses
p 
r = a cos  θ + ϕ 0 
q 
p = 1, q =-5 p = 1, q = 5
89
http://www.mathcurve.com\courbes2d\rosace\rosace.shtml
SOLO
Planar Curves
n n
Lamé Curves (Super-ellipses) x y
+ =1
a b
A polar generalization of
Gabriel Lamé
Lamé’s formula. 1795 - 1870
−1 / n1
 1  
n

2
1  
n 3

 cos  m θ    sin  m θ  
  4  +   4  
r (θ ) =  
 a   b  
 




 
 
Families of curves generated by the "superformula" with a = b = 1 and n varying from 0 to 2
are illustrated above for values of n=n1=n2=n3 varying from 1 to 8.
http://mathworld.wolfram.com/Superellipse.html
In 1818 Lamé discussed the curves with equation given above. He considered more general curves
than just those where n is an integer. If n is a rational then the curve is algebraic but, for irrational
n, the curve is transcendental.
The case n = 2/3 is theAstroid, while the case n = 3 is the (so-called) Witch of Agnesi.
http://www-groups.dcs.st-and.ac.uk/~history/Curves/Lame.html 90
http://en.wikipedia.org/wiki/Super_ellipse
SOLO
Planar Curves
Lissajous or Bowditch Curves http://curvebank.calstatela.edu\lissajous
 x = a sin ( n t + c )

 y = b sin t
Nathaniel Bowditch (1773 - 1838) was the first American to receive international
recognition as a mathematician. Moreover, he was the first to investigate a family
of curves now usually named for the French physicist, Jules-Antoine Lissajous.
Lissajous independently published his work much later in 1857
Jules-Antoine Lissajous Nathaniel Bowditch

1822 - 1880 (1773 - 1838)
91
SOLO
Planar Curves
 2 cos t cos 3 t − 1
x = 2 − cos t cos 3 t


y = 3 cos t cos 3 t
 2 − cos t cos 3 t

 x = cos θ ( 2 cosθ + 1)

 y = sin θ ( 2 cosθ − 1)
92
SOLO
Space Curves
Spherical Spiral
 cos t
x =
 1+ α t 2

 sin t
y =
 1+ α t 2

z = α t
 1+ α t 2
http://en.wikipedia.org/wiki/Spiral 
93
SOLO
References
H. Lass, “Vector and Tensor Analysis”, McGraw Hill, 1950, Ch. 3: “Differential Geometry”
M.R. Spiegel, “Vector Analysis and an Introduction to Tensor Analysis”, Schaum’s

Outline Series, McGraw Hill, 1959
”, E. Kreyszig, “Introduction to Differential Geometry and Riemannian Geometry
University of Toronto Press, 1968
M.M. Lipschutz, “Differential Geometry”, Schaum’s Outline Series, McGraw Hill,
1969
Bo-Yu Hou & Bo-Yuan Hou, “Differential Geometry for Physicists”, World Scientific,
1997
http://www.mathcurve.com
http://www-groups.dcs.st-and.ac.uk/~history/Curves
http://mathworld.wolfram.com
http://en.wikipedia.org/wiki/List_of_differential_geometry_topics
http://xahlee.org/SpecialPlaneCurves_dir/specialPlaneCurves.html 94
SOLO
Tensors
References
H. Lass, “Vector and Tensor Analysis”, McGraw Hill, 1950
M.R. Spiegel, “Vector Analysis and an Introduction to Tensor Analysis”, Schaum’s

Outline Series, McGraw Hill, 1959
D. Lovelock & H. Rund, “Tensor, Differential Forms, and Variational Principles”,
Dover Publications, 1975, 1989
J.A. Schouten, “Tensor Analysis for Physicists”, 2nd Ed., Dover Publications, 1989 (1959)
A.I. Borisenko & I.E. Tarapov, “Vector and Tensor Analysis with Applications”,
Dover Publications, 1968
A.J. McConnell, “Applications of Tensor Analysis ”, Dover Publications, 1957
Bishop, R. and Goldberg, S., “Tensor Analysis on Manifolds”, New York: Dover, 1980.
Aris, R., “Vectors, Tensors and the Basic Equations of Fluid Mechanics”,
New York: Dover, 1989.
95
SOLO
Tensors
References
96
Table of Content
Camille Jordan
1838 - 1922
http://www.mathcurve.com/surfaces/mobius/mobius.shtml
http://curvebank.calstatela.edu/arearev
97
SOLO
Technion
Israeli Institute of Technology
1964 – 1968 BSc EE
1968 – 1971 MSc EE
Israeli Air Force

1970 – 1974
RAFAEL
Israeli Armament Development Authority
1974 –2013
Stanford University
1983 – 1986 PhD AA
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Differential Geometry

Three Dimensional Euclidian

http://www.solohermelin.com Updated: 1.04.07

TABLE OF CONTENT (continue)

Curvilinear Coordinates in a Three Dimensional Space

Those functions are single valued with continuous →

Regular Parametric Representation of a Vector Function: a

parameter t, defined in the interval I and: C O

Christian Huyghens Pierre Fermat

The first analytical representation of a tangent was given

 d r  d r d r   - unit tangent vector of path C at P dr dr 

:Curvature of curve C at P k := = t = r 

:The curve C is a straight line. Conversely if C is a straight line a

C a regular curve of class ≥2 (Cclass) is a straight line if and only if k = 0 on C

Osculating Circles on the Deltoid

The name binormal was introduced by  Osculating

The continuous function τ (s) is called the second curvature C

C a regular curve of class ≥3 (Cclass) is a planar curve if and only if τ = 0 on C

Example 2: Circular Helix r = a cos t e1 + a sin t e2 + b t e3 , a > 0, b ≠ 0

Those are the Serret – Frenet Equations of a curve.

Jean Frédéric Frenet Joseph Alfred Serret 19

and initial conditions:

The solution of this type of differential equations with

A curve is defined uniquely by the curvature and torsion 

and torsion of a curve as functions of s are called the natural 

Fundamental Existence and Uniqueness Theorem of Space C*

Let consider a space curve C. We construct the tangent Involute Ci

The curve Ce whose tangents are perpendicular to a Curve C

http://math.la.asu.edu/~rich/MAT272/evolute/ellipselute.html Evolute of Logarithmic Spiral

First Fundamental Form:

Arc Length on a Path on the Surface: a

First Fundamental Form is Invariant to Coordinate Transformation

Second Fundamental Form: II := − d r ⋅ d N dΣ

    

Second Fundamental Form: II := − d r ⋅ d N

       O

Second Fundamental Form: II := − d r ⋅ d N 

Second Fundamental Form: II := − d r ⋅ d N

(i) Elliptic Case (ii) Hyperbolic Case (iii) Parabolic Case

Second Fundamental Form: II := − d r ⋅ d N

was introduced by Charles Dupin in 1813 in “Développments P

Second Fundamental Form: II := − d r ⋅ d N

(iv) Planar Case

Second Fundamental Form: II := − d r ⋅ d N

Normal Curvature Osculating Principal Normal

 dr dr dr - unit vector of path C at P

Osculating Principal Normal

Normal Curvature (continue – 2)

- kn is independent on coordinates since I and II are independent. rv d

- Because I = E du2 + 2 F du dv + G dv2 > 0 → sign kn=sign II

Principal Curvatures and Directions

Let find the maximum and minimum of kn as functions of the directions d u/ d v.

Multiply by I and use II

Principal Curvatures and Directions (continue – 1)

Principal Curvatures and Directions (continue – 2)

This equation has non-trivial solution if:

Principal Curvatures and Directions (continue – 3)

The discriminant of this equation is: N

The discriminant of this equation is:

Principal Curvatures and Directions (continue – 5)

Rewrite the equation: 

Gaussian and Mean Curvatures (continue – 1) 

Principal Curvatures and Directions (continue – 7)

From the equation above we have: