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Arc Length and Curvature in Space

This document contains notes for a Calculus course at the University of Moratuwa on arc length, space curves, and curvature. It defines arc length for a curve and proves that if a curve is differentiable, its arc length can be calculated as the integral of the derivative. It also introduces unit tangent, normal, and binormal vectors that define a coordinate system for space curves. Finally, it defines curvature as the derivative of the unit tangent vector with respect to arc length and discusses radius of curvature.

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Bredley Silva
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10 views5 pages

Arc Length and Curvature in Space

This document contains notes for a Calculus course at the University of Moratuwa on arc length, space curves, and curvature. It defines arc length for a curve and proves that if a curve is differentiable, its arc length can be calculated as the integral of the derivative. It also introduces unit tangent, normal, and binormal vectors that define a coordinate system for space curves. Finally, it defines curvature as the derivative of the unit tangent vector with respect to arc length and discusses radius of curvature.

Uploaded by

Bredley Silva
Copyright
© All Rights Reserved
We take content rights seriously. If you suspect this is your content, claim it here.
Available Formats
Download as PDF, TXT or read online on Scribd

Calculus - MA2024 - 2020 Batch – University of Moratuwa

Disclaimer: These notes have been prepared for the sole purpose of teaching this course and
have not been subjected to the usual scrutiny reserved for formal publications. They may be
distributed outside this class only with the permission of the instructor. Notes may be updated
periodically with suggestions from students, new ideas etc.

2 Arc Length, Space Curves and Curvature

2.1 Arc Length


Definition 2.1.1:
Let 𝒓 be a curve in ℝ3 . Let 𝑃 = {𝑡0 , 𝑡1 , … , 𝑡𝑛 } with 𝑡0 = 𝑎, 𝑡𝑛 = 𝑏 and 𝑡𝑘 > 𝑡𝑘−1 be a partition of
[𝑎, 𝑏]. Let 𝒫[𝑎, 𝑏] be the set of all such partitions. Define 𝑠(𝒓, 𝑃) = ∑𝑛𝑘=1 ||𝒓(𝑡𝑘 ) − 𝒓(𝑡𝑘−1 )||
and length of the curve as 𝑠(𝒓) = sup{s(𝒓, 𝑃)| 𝑃 ∈ 𝒫[𝑎, 𝑏]}.

Definition 2.1.2: 𝒓 is rectifiable iff 𝑠(𝒓) ∈ ℝ .

𝑏
Theorem 2.1.1: If 𝒓 ∈ 𝐶 1 then 𝒓 is rectifiable and 𝑠(𝒓)= ∫𝑎 ||𝒓′ (𝑡)|| 𝑑𝑡 .

Note: MVT does not exist for a curve 𝒓. However, in ℝ2 there exists 𝑐 ∈ (𝑎, 𝑏) such that 𝒓′ (𝑡)
is parallel to 𝒓(𝑏) − 𝒓(𝑎).

Definition 2.1.3: A change of parameter in a vector-valued function 𝒓(𝑡) is a substitution 𝑡 =


𝑔(𝜏) that produces a new vector-valued function 𝒓(𝑔(𝜏)) having the same graph as 𝒓(𝑡), but
possibly traced differently as parameter 𝜏 increases.

1
Dr. Supem Samarasiri, Department of Mathematics, University of Moratuwa, Sri Lanka
Last updated: 09/26/2022 07:31 PM
Calculus - MA2024 - 2020 Batch – University of Moratuwa

Theorem 2.1.2: Chain Rule


Let 𝒓(𝑡) be a vector-valued function that is differentiable with respect to 𝑡. If 𝑡 = 𝑔(𝜏) is a
change of parameter in which 𝑔 is differentiable with respect to 𝜏, then 𝒓(𝑔(𝜏)) is differentiable
with respect to 𝜏 and

𝑑𝒓 𝑑𝒓 𝑑𝑡
= .
𝑑𝜏 𝑑𝑡 𝑑𝜏

Definition 2.1.4:
Let 𝐶 be the graph of a 𝐶 1 vector-valued function 𝒓(𝑡) with non-zero derivative and let 𝒓(𝑡0 ) be
any point on 𝐶. Then the following defines a position change of parameter from 𝑡 to 𝑠, which we
call an arc length parameter having reference point 𝒓(𝑡0 ):

𝑡 𝑑𝒓
𝑠 = ∫𝑡 ||𝑑𝑢|| 𝑑𝑢 .
0

Example: Express the helix 𝒓(𝑡) = (sin 𝑡, cos 𝑡 , 2𝑡) in terms of arc length measured from the
point 𝑃0 (0,1,0) in the direction of increasing 𝑡.

Theorem 2.1.3: Let 𝐶 be the graph of a 𝐶 1 vector-valued function 𝒓 such that 𝒓′ (𝑡) ≠ 0; ∀𝑡.
Suppose 𝑡 is a general parameter and 𝑠 is an arc length parameter for 𝐶, then
a) ∀𝑡, the tangent vector has length
𝑑𝒓 𝑑𝑠
|| 𝑑𝑡 || = 𝑑𝑡 ,
b) ∀𝑠, the tangent vector has length
𝑑𝒓(𝑡(𝑠))
|| || = 1 ,
𝑑𝑠
𝑑𝒓
c) If || 𝑑𝑡 || = 1; ∀𝑡, then for every value of 𝑡0 , the parameter 𝜎 = 𝑡 − 𝑡0 is an arc length
parameter with reference point at the point on 𝐶 corresponding to 𝑡 = 𝑡0 .

Proof: Will be outlined in class.

2.2 Unit Tangent, Normal and Binormal Vectors.


Definition 2.2.1: Let 𝐶 be the graph of a 𝐶 1 vector-valued function 𝒓 such that 𝒓′ (𝑡) ≠ 0; ∀𝑡.
Then the unit vector
𝒓′ (𝑡)
𝑻(𝑡) ∶=
||𝒓′ (𝑡)||

that is tangent to 𝐶 and points in the direction of increasing parameter 𝑡 is called the unit tangent
vector at every value of 𝑡.

2
Dr. Supem Samarasiri, Department of Mathematics, University of Moratuwa, Sri Lanka
Last updated: 09/26/2022 07:31 PM
Calculus - MA2024 - 2020 Batch – University of Moratuwa

Definition 2.2.2: Let 𝐶 be the graph of a 𝐶 1 vector-valued function 𝒓 such that 𝒓′ (𝑡) ≠ 0; ∀𝑡.
Then the unit vector
𝑻′ (𝑡)
𝑵(𝑡) ∶=
||𝑻′ (𝑡)||

that is normal to 𝐶 and points in the direction as 𝑻′ (𝑡) is called the principle unit normal vector
at every value of 𝑡.

Note: 𝑻 points in the direction of motion while 𝑵 points in the direction the moving object is
turning at each 𝑡. On the plane 𝑵 points toward the concave side of the trajectory for each 𝑡.

Definition 2.2.3: Let 𝐶 be the graph of a 𝐶 1 vector-valued function 𝒓 in 3-space such that
𝒓′ (𝑡) ≠ 0; ∀𝑡. Then the binormal vector 𝑩(𝑡) can be defined at each 𝑡 as follows,
𝑩(𝑡) = 𝑻(𝑡) × 𝑵(𝑡).

It follows from properties of the cross product that 𝑩(𝑡) is orthogonal to both 𝑻(𝑡) and 𝑵(t)
and is oriented relative to 𝑻(𝑡) and 𝑵(t) by the right-hand rule. Moreover, 𝑻(𝑡) × 𝑵(t) is a
unit vector since
𝜋
||𝑻(𝑡) × 𝑵(t)|| = ||𝑻(𝑡)|| ||𝑵(𝑡)||sin 2 = 1.

Thus, {𝑻(𝑡), 𝑵(𝑡), 𝑩(𝑡)} is a set of three mutually orthogonal unit vectors ; for every 𝑡.

3
Dr. Supem Samarasiri, Department of Mathematics, University of Moratuwa, Sri Lanka
Last updated: 09/26/2022 07:31 PM
Calculus - MA2024 - 2020 Batch – University of Moratuwa

Just as the vectors 𝒊 , 𝒋 and 𝒌 determine a right-handed coordinate system in 3 - space,


so do the vectors 𝑻(𝑡), 𝑵(𝑡), 𝑩(𝑡) ; for every 𝑡. At each point on the parametric curve 𝐶 in
3-space, these vectors determine three mutually perpendicular planes that passes through
the point, namely, the TB-plane (called the rectifying plane), the TN-plane (called the osculating
plane), and the NB - plane (called normal plane).

The coordinate system determined by 𝑻(𝑡), 𝑵(𝑡), 𝑩(𝑡)is called the TNB-frame.
Alternatively, the binormal 𝑩(𝑡) can be expressed directly in terms of 𝒓(𝑡) as

𝒓′ (𝑡)× 𝒓′′ (𝑡)


𝑩(𝑡) = ||𝒓′ (𝑡)× 𝒓′′ (𝑡)||

And when the parameter is an arc length parameter it can be expressed as


𝒓′ (𝑠)× 𝒓′′ (𝑠)
𝑩(𝑠) = .
||𝒓′′ (𝑠)||

2.3 Curvature
Definition 2.3.1: Let 𝐶 be the graph of a 𝐶 1 vector-valued function 𝒓 with non-zero derivative.
Then the curvature of 𝐶 is, denoted 𝜅 = 𝜅(𝑠), is defined as
𝑑𝑇
𝜅(𝑠) = || 𝑑𝑠 || = || 𝒓′′ (𝑠)|| ; for all possible values of an arc length parameter 𝑠.

Theorem 2.3.1: Let 𝐶 be the graph of a 𝐶 1 vector-valued function 𝒓 with non-zero derivative.
Then for each value of 𝑡 for which 𝑻′(𝑡) and 𝒓′′ (𝑡) exists, the curvature can be expressed as,
||𝑻′ (𝑡)||
a) 𝜅(𝑡) = ,
||𝒓′ (𝑡)||

||𝒓′ (𝑡)× 𝒓′′ (𝑡)||


b) 𝜅(𝑡) = .
||𝒓′ (𝑡)||3

Proof: Is an exercise.

4
Dr. Supem Samarasiri, Department of Mathematics, University of Moratuwa, Sri Lanka
Last updated: 09/26/2022 07:31 PM
Calculus - MA2024 - 2020 Batch – University of Moratuwa

Example:
Given 𝑎 and 𝑏 are both non-negative, express the curvature 𝜅 of 𝒓(𝑡) = (𝑎 cos 𝑡 , 𝑎 sin 𝑡 , 𝑏𝑡)
in terms of 𝑎 and 𝑏.

Definition 2.3.2: Radius of Curvature


If a curve 𝐶 in 2 - space has non-zero curvature 𝜅 at a point 𝑃, then the circle of radius
𝜌 = 1/𝜅 sharing a common tangent with 𝐶 at 𝑃, and centered on the concave side of the
curve at 𝑃, is called the osculating circle or circle of curvature at 𝑃.

The radius 𝜌 of osculating circle at 𝑃 is called the radius of curvature at 𝑃 and the center
of the circle is called center of curvature at 𝑃.

5
Dr. Supem Samarasiri, Department of Mathematics, University of Moratuwa, Sri Lanka
Last updated: 09/26/2022 07:31 PM

Common questions

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The vectors \( \mathbf{T}(t) \), \( \mathbf{N}(t) \), and \( \mathbf{B}(t) \), known as the TNB-frame, form an orthogonal coordinate system analogous to the standard basis \( \{\mathbf{i}, \mathbf{j}, \mathbf{k}\} \) in \( \mathbb{R}^3 \). The unit tangent vector \( \mathbf{T}(t) \) is defined by normalizing the derivative of the curve, while the unit normal vector \( \mathbf{N}(t) \) is the normalized derivative of \( \mathbf{T}(t) \). The binormal vector \( \mathbf{B}(t) \) is orthogonal to both \( \mathbf{T}(t) \) and \( \mathbf{N}(t) \), calculated as the cross product \( \mathbf{T}(t) \times \mathbf{N}(t) \), and completes the right-handed coordinate system .

A change of parameter \( t = g(\tau) \), where \( g \) is differentiable, results in a new vector-valued function \( \mathbf{r}(g(\tau)) \) that maintains the graph of the original function but can trace the path differently due to the reparameterization . This affects the speed and way the curve is traversed, potentially introducing a different direction of traversal as the new parameter \( \tau \) varies .

The tangent plane (TB-plane), normal plane (NB-plane), and osculating plane (TN-plane) associated with the TNB-frame provide insights into the local geometry of a space curve. The TB-plane, also known as the rectifying plane, helps visualize the curve's orientation and 'correction' of direction; the NB-plane is perpendicular to the direction of motion, offering a cross-sectional view, and the TN-plane, the osculating plane, contains the most curvature information as it aligns with the principal directions of the tangent and normal vectors .

The radius of curvature \( \rho = \frac{1}{\kappa} \) gives a tangible geometric interpretation as it corresponds to the radius of the osculating circle, which best approximates the curve at a specific point . This measure provides insight into the curve's sharpness or flatness at that point, with larger radii indicating flatter sections and smaller radii indicating sharper bends .

When the tangent vector of a curve \( \mathbf{T}(t) \) is constant and its magnitude \( || \mathbf{T}(t) || = 1 \) for all \( t \), it implies that the curve is parametrized by arc length with a constant speed . In such a case, the parameter directly corresponds to the arc length, simplifying many geometric and physical interpretations of the curve .

A curve \( \mathbf{r} \) in \( \mathbb{R}^3 \) is defined to be rectifiable if the supremum of the lengths of polygonal approximations to \( \mathbf{r} \), as given by partitions \( P \in \mathcal{P}[a, b] \), is a real number; this is denoted as \( s(\mathbf{r}) \in \mathbb{R} \). If \( \mathbf{r} \) is in class \( C^1 \), then \( \mathbf{r} \) is rectifiable, and the arc length is calculated by \( s(\mathbf{r}) = \int_a^b ||\mathbf{r}'(t)|| \, dt \).

Curvature \( \kappa \) measures how sharply a particle's trajectory bends, while torsion \( \tau \) measures the rate at which the curve departs from being planar . Together, they provide a comprehensive description of a space curve's geometry by illustrating how much the trajectory twists in space (torsion) as well as how tightly it turns (curvature). These parameters collectively define the space curve's unique 3D path .

For a vector-valued function \( \mathbf{r}(t) \) to have a well-defined curvature, it must be continuously differentiable (i.e., of class \( C^1 \)) and have a non-zero derivative \( \mathbf{r}'(t) \neq 0 \) for all \( t \). The curvature \( \kappa \) at a point can then be calculated using expressions like \( \kappa(t) = \frac{||\mathbf{T}'(t)||}{||\mathbf{r}'(t)||} \) or \( \kappa(t) = \frac{||\mathbf{r}'(t) \times \mathbf{r}''(t)||}{||\mathbf{r}'(t)||^3} \).

A space curve \( \mathbf{r}(t) \) is expressed in terms of an arc length parameter \( s \) by making \( s = \int_{t_0}^t || \frac{d\mathbf{r}}{du} || \, du \). This parameterization is significant because it normalizes the speed of traversal along the curve to one, \( \left\| \frac{d\mathbf{r}}{ds} \right\| = 1 \), which simplifies calculations and interpretations, such as those involving curvature or the TNB-frame .

The binormal vector \( \mathbf{B}(t) \) is defined as the cross product \( \mathbf{T}(t) \times \mathbf{N}(t) \), making it orthogonal to both \( \mathbf{T}(t) \) and \( \mathbf{N}(t) \). This orthogonality ensures that the TNB-frame consists of three mutually perpendicular unit vectors at each point on the curve, thereby forming a unique right-handed coordinate system at every point, similar to the standard basis in three-dimensional space .

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