MATH-243 Vector Calculus

TNB Frame

Dr. Yasir Ali (yali@ceme.nust.edu.pk)

DBS&H, CEME-NUST

December 6, 2021

Dr. Yasir Ali (yali@ceme.nust.edu.pk) MATH-243 Vector Calculus

Sharpness of a Curve
Imagine that you are designing a new highway. Nearly all roads have
curves, to avoid both natural and human-made obstacles. So that cars are
able to maintain a reasonable speed on your new road, you should avoid
curves that are too sharp. To do this, it would help to have some concept
of how sharp a given curve is.

Dr. Yasir Ali (yali@ceme.nust.edu.pk) MATH-243 Vector Calculus

Sharpness of a Curve
Imagine that you are designing a new highway. Nearly all roads have
curves, to avoid both natural and human-made obstacles. So that cars are
able to maintain a reasonable speed on your new road, you should avoid
curves that are too sharp. To do this, it would help to have some concept
of how sharp a given curve is.

HOW WE MEASURE THE SHARPNESS OF A CURVE?

Dr. Yasir Ali (yali@ceme.nust.edu.pk) MATH-243 Vector Calculus
Tangent vector indicates the direction of motion.

"Rate of change of UNIT TANGENT VECTOR w. r. t LENGTH of curve gives THE

MEASUREMENT OF SHARPNESS"

Dr. Yasir Ali (yali@ceme.nust.edu.pk) MATH-243 Vector Calculus

Tangent vector indicates the direction of motion.

"Rate of change of UNIT TANGENT VECTOR w. r. t LENGTH of curve gives THE

MEASUREMENT OF SHARPNESS"
Rate of change of UNIT Tangent
Measurement of Sharpness =
Length

Dr. Yasir Ali (yali@ceme.nust.edu.pk) MATH-243 Vector Calculus

Tangent vector indicates the direction of motion.

"Rate of change of UNIT TANGENT VECTOR w. r. t LENGTH of curve gives THE

MEASUREMENT OF SHARPNESS"
Rate of change of UNIT Tangent
Measurement of Sharpness =
Length
The curvature κ of a curve is the scalar quantity
dT
κ=| |
ds

Dr. Yasir Ali (yali@ceme.nust.edu.pk) MATH-243 Vector Calculus

Finding Unit Tangent

Dr. Yasir Ali (yali@ceme.nust.edu.pk) MATH-243 Vector Calculus

Curvature

The rate at which T turns per unit length is called curvature.

   
 dT   dT dt 
κ = 
  =  . 
ds   dt ds 
as = |v| = |r0 |
ds
dt
dt 1
∴ = 0
ds |r |
 0
T 
κ =  0 
r

Dr. Yasir Ali (yali@ceme.nust.edu.pk) MATH-243 Vector Calculus

Curvature

The rate at which T turns per unit length is called curvature.

   
 dT   dT dt 
κ = 
  =  . 
ds   dt ds 
as = |v| = |r0 |
ds
dt
dt 1
∴ = 0
ds |r |
 0
T 
κ =  0 
r
or
1 dT
κ= | |
|v| dt

Dr. Yasir Ali (yali@ceme.nust.edu.pk) MATH-243 Vector Calculus

Curvature of straight line
The curvature of straight line is ZERO.

Dr. Yasir Ali (yali@ceme.nust.edu.pk) MATH-243 Vector Calculus

Find the Curvature of Circle of Radius “a”

Dr. Yasir Ali (yali@ceme.nust.edu.pk) MATH-243 Vector Calculus

Find the Curvature of Circle of Radius “a”

r(t) = [a cos t, a sin t] 0 ≤ t ≤ 2π.

We know that

Dr. Yasir Ali (yali@ceme.nust.edu.pk) MATH-243 Vector Calculus

Find the Curvature of Circle of Radius “a”

r(t) = [a cos t, a sin t] 0 ≤ t ≤ 2π.

We know that
1 dT dr v
κ= | |, v= and T=
|v| dt dt |v|

Dr. Yasir Ali (yali@ceme.nust.edu.pk) MATH-243 Vector Calculus

Find the Curvature of Circle of Radius “a”

r(t) = [a cos t, a sin t] 0 ≤ t ≤ 2π.

We know that
1 dT dr v
κ= | |, v= and T=
|v| dt dt |v|

v = [−a sin t, a cos t], |v| = a

v dT
T= = [− sin t, cos t], = [− cos t, − sin t]
|v| dt

Thus | dT
dt | = 1 and
1 dT 1
κ= | |=
|v| dt a

Dr. Yasir Ali (yali@ceme.nust.edu.pk) MATH-243 Vector Calculus

Find the Curvature of Helix

Dr. Yasir Ali (yali@ceme.nust.edu.pk) MATH-243 Vector Calculus

Find the Curvature of Helix

r(t) = [a cos t, a sin t, bt] a, b ≥ 0.

Dr. Yasir Ali (yali@ceme.nust.edu.pk) MATH-243 Vector Calculus

Find the Curvature of Helix

r(t) = [a cos t, a sin t, bt] a, b ≥ 0.

p
v = [−a sin t, a cos t, b], |v| = a2 + b 2

Dr. Yasir Ali (yali@ceme.nust.edu.pk) MATH-243 Vector Calculus

Find the Curvature of Helix

r(t) = [a cos t, a sin t, bt] a, b ≥ 0.

p
v = [−a sin t, a cos t, b], |v| = a2 + b 2
1
T= √ [−a sin t, a cos t, b],
a + b2
2

dT 1
=√ [−a cos t, −a sin t, 0],
dt a + b2
2

Dr. Yasir Ali (yali@ceme.nust.edu.pk) MATH-243 Vector Calculus

Find the Curvature of Helix

r(t) = [a cos t, a sin t, bt] a, b ≥ 0.

p
v = [−a sin t, a cos t, b], |v| = a2 + b 2
1
T= √ [−a sin t, a cos t, b],
a + b2
2

dT 1 dT a
=√ [−a cos t, −a sin t, 0], | |= √
dt a + b2
2 dt a + b2
2

Dr. Yasir Ali (yali@ceme.nust.edu.pk) MATH-243 Vector Calculus

Find the Curvature of Helix

r(t) = [a cos t, a sin t, bt] a, b ≥ 0.

p
v = [−a sin t, a cos t, b], |v| = a2 + b 2
1
T= √ [−a sin t, a cos t, b],
a + b2
2

dT 1 dT a
=√ [−a cos t, −a sin t, 0], | |= √
dt a + b2
2 dt a + b2
2

Thus
1 dT 1 a a
κ= | |= √ .√ = 2
|v| dt 2
a +b 2 2
a +b 2 a + b2

Dr. Yasir Ali (yali@ceme.nust.edu.pk) MATH-243 Vector Calculus

Relation between r and T.

If a smooth curve in space is specified by the position

vector r(t) as a function of some parameter t, and if
s is the arc length parameter of the curve, then the
unit tangent vector T = r0 /|r0 | is normal to r(t).

Just as for plane curves. The vector

T0 /|T0 | is orthogonal to T, and we de-
fine the Principal Unit Normal to be

T0
N=
|T0 |
or
1 dT
N=
κ ds

Dr. Yasir Ali (yali@ceme.nust.edu.pk) MATH-243 Vector Calculus

Principal Unit Normal

At a point where κ 6= 0, the principal unit normal vector N(t) for a smooth
curve in the plane always points to the "concave" side of the curve

Dr. Yasir Ali (yali@ceme.nust.edu.pk) MATH-243 Vector Calculus

Find the unit tangent and principal unit normal vectors to
the curve defined by r(t) = [t 2 , t].

Dr. Yasir Ali (yali@ceme.nust.edu.pk) MATH-243 Vector Calculus

Find the unit tangent and principal unit normal vectors to
the curve defined by r(t) = [t 2 , t].

Dr. Yasir Ali (yali@ceme.nust.edu.pk) MATH-243 Vector Calculus

Find the unit tangent and principal unit normal vectors to
the curve determined by r(t) = [sin 2t, cos 2t, t].

Dr. Yasir Ali (yali@ceme.nust.edu.pk) MATH-243 Vector Calculus

Find the unit tangent and principal unit normal vectors to
the curve determined by r(t) = [sin 2t, cos 2t, t].

Dr. Yasir Ali (yali@ceme.nust.edu.pk) MATH-243 Vector Calculus

Binormal Vector

B(t) = T(t) × N(t).

Dr. Yasir Ali (yali@ceme.nust.edu.pk) MATH-243 Vector Calculus

Find Binormal vector to the curve determined by
r(t) = [sin 2t, cos 2t, t].

Dr. Yasir Ali (yali@ceme.nust.edu.pk) MATH-243 Vector Calculus

TNB Frame

TN − plane is called Osculating Plane

TB − plane is called Rectifying Plane
NB − plane is called Normal Plane

Dr. Yasir Ali (yali@ceme.nust.edu.pk) MATH-243 Vector Calculus

 r0
T= 0 r is orthogonal to T
|r |
0
 
|T |  dT 
κ = 0 = 
|r | ds 
T0 1 dT
N= 0 = T is orthogonal to N
|T | κ ds
1 dT dT
N= N and ds has same direction.
κ ds
B=T×N B is orthogonal to T&N

Dr. Yasir Ali (yali@ceme.nust.edu.pk) MATH-243 Vector Calculus

How does dB/ds behave in relation to T, N, and B?

dB d (T × N) dT N
= = ×N+T×
ds ds ds ds
Since N is the direction of dT/ds, therefore, (dT/ds) × N = 0 and

dB N
=T×
ds ds

dB
ds is orthogonal to T since a cross product is orthogonal to its factors.
dB dB 1 dB
ds is also orthogonal to B, since ds = |v| dt .
It follows that dB
ds is perpendicular to plane of B and T. In other words, ds
dB

is parallel to N.
dB
= −τ N
ds
The negative sign in this equation is traditional. The scalar τ is called the
torsion along the curve.
Dr. Yasir Ali (yali@ceme.nust.edu.pk) MATH-243 Vector Calculus
Let B = T X N. The torsion function of a smooth curve is
τ = − dB
ds .N.

 
 ẋ ẏ ż 
 
 ẍ ÿ z̈ 
 ... ... ...
x y z 
τ= if v × a 6= 0
|v × a|

The dots denote differentiation with respect to t, one derivative for each
dot.

Dr. Yasir Ali (yali@ceme.nust.edu.pk) MATH-243 Vector Calculus

TNB frame and Torsion
Torsion tells us how much a body’s path rotates or twist out of its plane of
motion as the body moves along.
dB
τ =− .N
ds

Dr. Yasir Ali (yali@ceme.nust.edu.pk) MATH-243 Vector Calculus

TNB fram for Helix

Dr. Yasir Ali (yali@ceme.nust.edu.pk) MATH-243 Vector Calculus

Tangential and Normal Components of Acceleration

a = aT T + aN N

Dr. Yasir Ali (yali@ceme.nust.edu.pk) MATH-243 Vector Calculus

Tangential and Normal Components of Acceleration

We know that
dv
a=
dt

dr
v= we know that r0 = |r0 |T =⇒ v = ds
dt T
 dt

d ds d 2s ds 0
a= T =⇒ a = dt 2
T + dt T .
dt dt

We know that
ds
T0 = |T0 |N and |T0 | = κ
dt
This means that 2
d 2s

ds
a= 2T +κ N
dt dt

Dr. Yasir Ali (yali@ceme.nust.edu.pk) MATH-243 Vector Calculus

Without finding T and N, write the acceleration of the
motion r(t) = (cos t + t sin t)iˆ + (sin t − t cos t)j,
ˆ t > 0.

a = aT T + aN N
here 2
d 2s

ds
aT = , aN = κ .
dt 2 dt
We know q
2
a = a2T + a2N =⇒ aN = a2 − a2T

Dr. Yasir Ali (yali@ceme.nust.edu.pk) MATH-243 Vector Calculus

Find the tangential and normal components of acceleration
for an object whose path is defined by r(t) = [t, 2t, t 2 ]. In
particular, find these components at t = 1. Also, find the
curvature.

Dr. Yasir Ali (yali@ceme.nust.edu.pk) MATH-243 Vector Calculus

Find the tangential and normal components of acceleration
for an object whose path is defined by r(t) = [t, 2t, t 2 ]. In
particular, find these components at t = 1. Also, find the
curvature.

a = aT T + aN N
here
2
d 2s

ds
q
aT = 2 , aN = κ , a2 = a2T + a2N =⇒ aN = a2 − a2T
dt dt

d 2s d|r0 | 4t
a(t) = r00 (t) = [0, 0, 2], aT = 2
= =√
dt dt 5 + 4t 3

Dr. Yasir Ali (yali@ceme.nust.edu.pk) MATH-243 Vector Calculus

 |r0 × r00 |
κ=
|r0 |3

We know that
2 2
d 2s
 
ds ds
a= 2T +κ N =⇒ T × a = κ T×N
dt dt dt

Now taking the magnitude and the fact that |T × N| = |B| = 1

2
r0

ds
|T × a| = κ =⇒ | × r00 | = κ|r0 |2
dt |r0 |

This gives that

|r0 × r00 |
κ=
|r0 |3

Dr. Yasir Ali (yali@ceme.nust.edu.pk) MATH-243 Vector Calculus

Formulae for Curves in Space

Dr. Yasir Ali (yali@ceme.nust.edu.pk) MATH-243 Vector Calculus

The curvature of a helix

Dr. Yasir Ali (yali@ceme.nust.edu.pk) MATH-243 Vector Calculus

The curvature of a helix

Dr. Yasir Ali (yali@ceme.nust.edu.pk) MATH-243 Vector Calculus

The torsion of a helix

Dr. Yasir Ali (yali@ceme.nust.edu.pk) MATH-243 Vector Calculus

The torsion of a helix

Dr. Yasir Ali (yali@ceme.nust.edu.pk) MATH-243 Vector Calculus

What can be said about the torsion of a smooth plane curve
r(t) = f (t)i + g (t)j? Give reasons for your answer

Dr. Yasir Ali (yali@ceme.nust.edu.pk) MATH-243 Vector Calculus

Frenet-Serret Formulas (0 represents d
ds )

T0 = κN
0
N = −κT + τ B
B0 = −τ N

Dr. Yasir Ali (yali@ceme.nust.edu.pk) MATH-243 Vector Calculus

Frenet-Serret Formulas (0 represents d
ds )
 0   
T 0 κ 0 T
T0 = κN
 N  =  -κ 0 τ  N 
N0 = −κT + τ B B 0 −τ 0 B
B0 = −τ N

Dr. Yasir Ali (yali@ceme.nust.edu.pk) MATH-243 Vector Calculus

Frenet-Serret Formulas (0 represents d
ds )
 0   
T 0 κ 0 T
T0 = κN
 N  =  -κ 0 τ  N 
N0 = −κT + τ B B 0 −τ 0 B
B0 = −τ N
At any give time the curve has a location. The velocity v is the
tendency to move away from the present location. If v is always 0
then we will stay at the present location forever.

Dr. Yasir Ali (yali@ceme.nust.edu.pk) MATH-243 Vector Calculus

Frenet-Serret Formulas (0 represents d
ds )
 0   
T 0 κ 0 T
T0 = κN
 N  =  -κ 0 τ  N 
N0 = −κT + τ B B 0 −τ 0 B
B0 = −τ N
At any give time the curve has a location. The velocity v is the
tendency to move away from the present location. If v is always 0
then we will stay at the present location forever.
At any give time the curve has a tangent line. The curvature κ is the
tendency to move away from the present tangent line. If κ is always 0
then we will stay on the present tangent line forever.

Dr. Yasir Ali (yali@ceme.nust.edu.pk) MATH-243 Vector Calculus

Frenet-Serret Formulas (0 represents d
ds )
 0   
T 0 κ 0 T
T0 = κN
 N  =  -κ 0 τ  N 
N0 = −κT + τ B B 0 −τ 0 B
B0 = −τ N
At any give time the curve has a location. The velocity v is the
tendency to move away from the present location. If v is always 0
then we will stay at the present location forever.
At any give time the curve has a tangent line. The curvature κ is the
tendency to move away from the present tangent line. If κ is always 0
then we will stay on the present tangent line forever.
At any give time the curve has an osculating plane. The torsion τ is
the tendency to move away from the present osculating plane. If τ is
always 0 then we will stay on the present osculating plane forever.

Dr. Yasir Ali (yali@ceme.nust.edu.pk) MATH-243 Vector Calculus

Frenet-Serret Formulas (0 represents d
ds )
 0   
T 0 κ 0 T
T0 = κN
 N  =  -κ 0 τ  N 
N0 = −κT + τ B B 0 −τ 0 B
B0 = −τ N
At any give time the curve has a location. The velocity v is the
tendency to move away from the present location. If v is always 0
then we will stay at the present location forever.
At any give time the curve has a tangent line. The curvature κ is the
tendency to move away from the present tangent line. If κ is always 0
then we will stay on the present tangent line forever.
At any give time the curve has an osculating plane. The torsion τ is
the tendency to move away from the present osculating plane. If τ is
always 0 then we will stay on the present osculating plane forever.
However, velocity depends on the parametrization whereas curvature and
torsion are geometric properties of the curve independent of the
parametrization
Dr. Yasir Ali (yali@ceme.nust.edu.pk) MATH-243 Vector Calculus
The first three derivatives of r

Dr. Yasir Ali (yali@ceme.nust.edu.pk) MATH-243 Vector Calculus

The first three derivatives of r

Dr. Yasir Ali (yali@ceme.nust.edu.pk) MATH-243 Vector Calculus

The first three derivatives of r

Dr. Yasir Ali (yali@ceme.nust.edu.pk) MATH-243 Vector Calculus

The curvature of a circle

Dr. Yasir Ali (yali@ceme.nust.edu.pk) MATH-243 Vector Calculus

Find τ for r(t) = [e t cos t, e t sin t, 2]

Dr. Yasir Ali (yali@ceme.nust.edu.pk) MATH-243 Vector Calculus

Find τ for r(t) = [e t cos t, e t sin t, 2]

Dr. Yasir Ali (yali@ceme.nust.edu.pk) MATH-243 Vector Calculus