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VECTOR FUNCTIONS
12.3
Arc Length
and Curvature
In this section, we will learn how to find:
The arc length of a curve and its curvature.
y = g(t),
atb
Formula 1
L=
[ f '(t )] + [ g '(t )]
2
dx dy
+ dt
dt dt
dt
atb
Formula 2
L=
dx dy dz
+ + dt
dt dt dt
dt
ARC LENGTH
Formula 3
L = r '(t ) dt
a
ARC LENGTH
That is because:
For plane curves r(t) = f(t) i + g(t) j
[ f '(t )] + [ g '(t )]
2
ARC LENGTH
Example 1
ARC LENGTH
Example 1
= 2
ARC LENGTH
Example 1
L=
r '(t ) dt
2 dt
= 2 2
ARC LENGTH
ARC LENGTH
Equations 4 & 5
1t2
0 u ln 2
PARAMETRIZATION
PARAMETRIZATION
ARC LENGTH
atb
where:
r is continuous.
C is traversed exactly once as t increases
from a to b.
Equation 6
s (t ) = r '(u ) du
a
dx dy dz
+ + du
du du du
Equation 7
ds
= r '(t )
dt
PARAMETRIZATION
PARAMETRIZATION
REPARAMETRIZATION
REPARAMETRIZATION
REPARAMETRIZATION
Example 2
REPARAMETRIZATION
Example 2
ds
From Example 1, we have:
= r '(t ) = 2
dt
So,
t
s = s (t ) = r '(u ) du =
2du = 2t
REPARAMETRIZATION
Therefore,
Example 2
r (t ( s ))
) (
= cos s / 2 i + sin s / 2 j + s / 2 k
SMOOTH PARAMETRIZATION
SMOOTH CURVE
SMOOTH CURVES
r '(t )
T(t ) =
r '(t )
This indicates the direction of the curve.
SMOOTH CURVES
CURVATURE
CURVATURE
CURVATUREDEFINITION
Definition 8
dT
=
ds
where T is the unit tangent vector.
CURVATURE
CURVATURE
d T d T ds
d T d T / dt
and =
=
=
dt
ds dt
ds
ds / dt
CURVATURE
Equation/Formula 9
(t ) =
T '(t )
r '(t )
CURVATURE
Example 3
CURVATURE
Example 3
So,
and
|r(t)| = a
r '(t )
T(t ) =
= sin t i + cos t j
r '(t )
T '(t ) = cos t i sin t j
CURVATURE
Example 3
T '(t ) 1
(t ) =
=
r '(t ) a
CURVATURE
CURVATURE
CURVATURE
CURVATURE
Theorem 10
(t ) =
r '(t ) r ''(t )
r '(t )
CURVATURE
Proof
ds
r' = r' T = T
dt
CURVATURE
Proof
d s
ds
r '' = 2 T + T '
dt
dt
CURVATURE
Proof
ds
r ' r '' = ( T T ')
dt
CURVATURE
Proof
CURVATURE
Proof
ds
r ' r '' = T T '
dt
2
ds
= T T'
dt
2
ds
= T'
dt
CURVATURE
Proof
Thus,
T' =
r ' r ''
( ds / dt )
and
T'
r'
r ' r ''
r'
r ' r ''
r'
CURVATURE
Example 4
CURVATURE
Example 4
r '(t ) = 1 + 4t + 9t
2
r ''(t ) = 0, 2, 6t
CURVATURE
Example 4
i j k
2
r '(t ) r ''(t ) = 1 2t 3t
0
6t
= 6t i 6t j + 2 k
2
= 2 9t + 9t + 1
4
CURVATURE
Example 4
(t ) =
r '(t ) r ''(t )
r '(t )
2 1 + 9t + 9t
2
(1 + 4t
+ 9t
4 3/ 2
(0) = 2
CURVATURE
CURVATURE
Then,
r(x) = i + f(x) j
and
r(x) = f(x) j
CURVATURE
Since i x j = k and j x j = 0,
we have:
r(x) x r(x) = f(x) k
CURVATURE
We also have:
r '( x) = 1 + [ f '( x) ]
CURVATURE
Formula 11
( x) =
f ''( x)
2 3/ 2
1 + ( f '( x) )
CURVATURE
Example 5
CURVATURE
Example 5
( x) =
=
y ''
2 3/ 2
1 + ( y ')
2
(1 + 4 x )
2 3/ 2
CURVATURE
Example 5
CURVATURE
Example 5
NORMAL VECTORS
NORMAL VECTOR
T '(t )
N(t ) =
T '(t )
NORMAL VECTORS
BINORMAL VECTOR
The vector
B(t) = T(t) x N(t)
is called the binormal vector.
BINORMAL VECTORS
r '(t ) = 2
r '(t )
1
T(t ) =
=
( sin t i + cos t j + k )
r '(t )
2
1
T '(t ) =
( cos t i sin t j)
2
T '(t )
= cos t i sin t j
N(t ) =
T '(t )
= cos t , sin t , 0
1
T '(t ) =
2
j
k
i
1
sin
cos
1
t
t
B(t ) = T(t ) N(t ) =
2
cos t sin t 0
1
sin t , cos t ,1
=
2
TNB FRAME
TNB FRAME
NORMAL PLANE
OSCULATING PLANE
OSCULATING PLANE
OSCULATING CIRCLE
OSCULATING CIRCLE
1( x 0 ) + 0 ( y 1) + 1 z = 0
2
or
z = x+
1
1
, 0,
2
2
1( x 0 ) + 0 ( y 1) + 1 z = 0
2
or
z = x +
OSCULATING CIRCLES
Example 8
OSCULATING CIRCLES
Example 8
x +(y
2
1 2
2
1
4
OSCULATING CIRCLES
Example 8
y = + sin t
OSCULATING CIRCLES
Example 8
SUMMARY
T '(t )
N(t ) =
T '(t )