Unit-IV - Differential Geometry Curves in Spaces & Helices

Unit-IV - Differential Geometry

Curves in spaces - Serret-Frenet formulas - Locus of centers of curvature - Spherical
curvature - Intrinsic equation – Helices - Spherical indicatrix surfaces – Envelope - Edge of
regression – Developable surfaces associated to a curve - first and second fundamental forms
- lines of curvature - Meusnieu’s theorem - Gaussian curvature - Euler’s theorem - Duplin’s
Indicatrix - Surface of revolution conjugate systems - Asymptritic lines - Isolmetric lines –
Geodesics.

Curves in spaces

A curve in space is the locus of a point whose Cartesian co-ordinates are functions of
a single variable (say). (or)

A curve in space is the locus of a point whose position vector with respect to a fixed
origin may be expressed as a function of a single parameter.

Parametric representation of a space curve

If the co-ordinates of a point on a space curve be represented by the equations of the

form ; ; where , , are single real variable ranging over a
set of values .

Parametric equation of the space curve is ; ;

Vector representation of a space curve

If be the position vector of a current point P on the space curve whose Cartesian co-
ordinates be then we know that

(or)

(or)

Conversion from one representation to another

Parametric equation of the space curve is ; ; . On

eliminating between these three equations we get and

Thus the space curve whose parametric equations are given can be expressed as the
intersection of two surfaces.

Change of Parameter

Let parametric equation of the space curve be ---------- (1).

Now consider the transformation where is single valued analytic

function of . The equation is thus transformed to ---------- (2).

From (1) and (2) we get, .

---------- (3).

Result
1. If is a regular parametric representation then and as such from (3) we
conclude that if and only if
2. is a regular parameter if and only if

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Unit-IV - Differential Geometry Curves in Spaces & Helices

Arc Length

Length of an arc from point to any point is

In terms of Cartesian parametric representation we obtain

Similarly, may be written as

(or)

Remark

is a function of the parameter . Since is never zero, can be used as a new

parameter. In order to change from to , is inverted to obtain (say) then the
curve is parameterized with respect to . Ie.

Example

The length of the arrive given as the intersection of the surfaces ;

from the point to the point .

Ans

The parametric equations are

; ;

; ;

Arc length

PG – TRB - Questions

1. The arc length of the curve ; ; from to is

[2002-03]
a) b) c) d)

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Unit-IV - Differential Geometry Curves in Spaces & Helices

Unit tangent vector to a curve

If be the unit tangent vector then and

Equation of tangent line to a curve at a given point

Parametric Form where is some suitable scalar.

Cartesian Form where ; ; are actual direction

Cosines
(Or)
where ; ; are direction ration
But not actual direction cosines

Order of Contact

Consider

i) If then we say that the curve and the surface has a simple
intersection at .

ii) If and then is of second order of and we say that

is a double zero of . In this case we say that C and S have two point
contact ( or contact of first order) at .

iii) If and then is of third order of and

we say that is a triple zero of . In this case we say that C and S have
three point contact ( or contact of second order) at .

iv) In general, If and then

is of n order of . In this case we say that C and S have n point contact ( or
th

contact of order) at .

Inflexional Tangent

If at a point P : then the tangent line at P is called inflexional and the point P is
called the point of inflexion. (or)

If be any point on the surface then the equation to the line through P is

The inflextional tangents are the tangents which have three point contact inside the
given surface where .

PG – TRB – Questions

1. C is a curve and S is a surface then C and S have three points contact at if [2002-03]
a) and b) ; and
c) ; and d) ; and
2. If P is a point of inflexion, then at the point P, [2003-04]
a) b) c) d)

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Unit-IV - Differential Geometry Curves in Spaces & Helices

The Three Fundamental Planes

Through any point P in space, there pass three mutually perpendicular planes
namely the osculating plane; the normal plane and the rectifying plane are called
fundamental planes.

1. Osculating plane
The plane through P containing and whose normal is therefore is called
rectifying plane whose equation is
Ie. The plane containing the vectors and is called the osculating plane
2. Normal plane
The plane through P containing and whose normal is therefore is called
normal plane whose equation is
Ie. The plane containing the vectors and is called the normal plane
3. Rectifying plane
The plane through P containing and whose normal is therefore is called
rectifying plane whose equation is
Ie. The plane containing the vectors and is called the rectifying plane
Osculating Plane (or) Plane of Curvature

Let C be a given curve of class and P and Q be any two neighbouring points on
it. Then the osculating plane of C at P is the limiting position of the plane which contains the
tangent line at P and the Point Q as (or which contains the tangent line at P and is
parallel to the tangent at Q as ) (or)

Let Q and R be any two points on the curve which are close to P then the limiting
position of the plane PQR as the points Q and R tend to P is called the osculating plane at the
point P.

Equation of osculating plane in terms of parameter of the point P is

or

Note:

1. The osculating plane is at right angles to

2. Normal to the osculating plane at P is .

Particular case

In case the arc length be measured from the point P then and the equation of
the osculating plane becomes

(or) (or)

Cartesian form

If and then

Theo: When the curve is analytic, there exists a finite osculating plane at a point of inflexion
provided the curve is not a straight line.

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Unit-IV - Differential Geometry Curves in Spaces & Helices

Normal Plane

The plane through and perpendicular to the tangent line at P is called the
normal plane at P.

Equation of normal plane is (or)

Cartesian Form

where (or)

where

The normal plane is perpendicular to osculating plane

1. The normal plane is at right angles to

2. The osculating plane is at right angles to
3. is the normal to the normal plane.
4. is normal to the osculating plane.

Now consider the dot product of these two normal i.e. as the
scalar triple product is zero when the two vectors are equal.

Since the dot product in zero it follows that the two normal’s to the two planes are at
right angles and hence the normal plane is perpendicular to the osculating plane.

Principal Normal

The Principal normal at any point P of a given curve C is defined as the normal
which lies in the osculating plane at P.

Equation of principal normal is

The unit vector along principal normal shall be denoted by .

It is clear that,

Principal normal is the line of intersection of the normal plane and osculating plane
because being normal it must lie in normal plane and being principal normal it must lie in
osculating plane.

Bi-normal

The bi-normal at any point P of a given curve C is defined as the normal which is
perpendicular to the osculating plane.

Equation of bi-normal is

The unit vector along the bi-normal shall be denoted by .

It is clear that,

Bi-normal is perpendicular to principal normal because the former is perpendicular

to osculating plane and the later lies in the osculating plane.

Result: Principal normal and bi-normal are perpendicular to each other.

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Unit-IV - Differential Geometry Curves in Spaces & Helices

Directions of Principal normal and bi-normal

The equation of the osculating plane is . Since bi-normal is

perpendicular to osculating plane it is therefore parallel to

Again principal normal is perpendicular to tangent and also perpendicular to bi-

normal it is therefore parallel to .

Here,

Directions w.r.t parameters (arc length)

We know that, is a unit tangent vector at a point, so that and .

Hence is perpendicular to and is parallel to normal

Also we know that, Equation of the osculating plane is thus is lie

in the osculating plane.

Both of the above, we get, The principal normal is parallel to

Bi-normal is perpendicular to osculating plane and is parallel

to .

Bi-normal is perpendicular to normal and normal is perpendicular to tangent

vector is therefore parallel to .

The unit orthogonal vectors

We know that

The Principal normal and bi-normal are perpendicular to each other and both of
these being normal’s are perpendicular to ,

Hence these three form a traid of mutually perpendicular unit vectors such that the
unit vector are form a right handed orthogonal system of axes.

1.
2.
3.

we have

and

PG – TRB – Questions

1. The normal which lies in the osculating plane at any point of the curve is called [2003-04]
a) binormal b) normal c) principal normal d) tangent
2. The plane determined by the tangent and bi-normal at a point P on a space curve is
[2005-06]
a) rectifying plane b) osculating plane
c) tangent plane d) normal plane
3. If is the position vector of any point in the osculating plane and if the curve is
given in terms of an arbitrary parameter then the equation of the osculating plane
is [2006-07]

a) b) c) d)

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Unit-IV - Differential Geometry Curves in Spaces & Helices

Curvature

The rate of change of the direction of tangent with respect to arc length as the
point moves along the curve is called curvature vector of the curve whose magnitude is
denoted by called the curvature at P.

Hence

Radius of curvature

The reciprocal of the curvature is called the radius of curvature.

It is denoted by

Ex: Curvature of the curve is

Since

Torsion

The rate of change of the direction of bi-normal with respect to arc length as the
point moves along the curve is called torsion vector of the curve whose magnitude is
denoted by called the torsion at P.

Hence

Radius of torsion

The reciprocal of the torsion is called the radius of torsion.

It is denoted by .

Example:

Consider the cubic curve given by

Curvature

Torsion

Screw Curvature

The rate of change of the direction of principal normal with respect to arc length as
the point moves along the curve is called the screw curvature vector and its magnitude
is

Hence

Theo: The necessary and sufficient condition for the curve to be a straight line is that
at all points of the curve.

Theo: The necessary and sufficient condition that a given curve is a plane curve is that
at all points.

Coro: The principal normal at consecutive points do not intersect unless

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Unit-IV - Differential Geometry Curves in Spaces & Helices

Serret – Frenet Formulaes

Arc derivative of three unit vectors are known as Serret Frenet formulae

1.

2.

3.

Matrix Form

Another form of Serret Frenet formulae

1.
2.
3.

Where called the Darboux vector of the curve

Theo: The necessary and sufficient condition for the curve to be a plane curve is

Result

1. If then
2.

3.

4.

Result

1.

2.

3.
4.
5.
6.

Intrinsic Equation
The intrinsic equations of a curve are of the form ; which
express the curvature and the torsion in terms of the arc length.

Such equations cannot determine the position of the curve in space, and congruent
curves will naturally have the same intrinsic equations. Conversely two cures with the same
intrinsic equations are necessarily congruent.

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Unit-IV - Differential Geometry Curves in Spaces & Helices

Result

1. If , , are the moments about the origin of unit vectors localised in the
tangent, principal normal and binormal then, ; ;

2. If the tangent and bi-normal at a point of a curve makes an angles and

respectively with a fixed direction then

3. The osculating plane at every point of a curve touches a fixed sphere, then the plane
through the tangent perpendicular to the principal normal passes through the centre
of the sphere.

4. In order that the principal normal of a curve be bi-normal of another the relation
must hold where and are constant.

5. If the space curve C, has constant torsion then the curve C1,
has constant curvature

PG – TRB – Questions

1. The curvature of indicatrix is the ratio of the [2002-03]

a) circular curvature to the screw curvature of the curve
b) Screw curvature to the circular curvature of the curve
c) Spherical curvature to the screw curvature of the curve
d) Spherical curvature to the circular curvature of the curve
2. If the curvature at the points on a curve, then the curve is a [2003-04]
a) Circle b) Straight line c) Parabola d) Sphere
3. Curvature of the curve Where and are constant vectors, at any point
is [2004-05]
a) b) c) d)
4. Intrinsic equation of a space curve C are of the form [2004-05]
a) ; ; where parameter is arc length
b) ; ; where is any parameter
c) ; ; where is arc length is arc curvature and torsion
d) ; ; where is any parameter
5. The necessary and sufficient condition that a curve C be a plane curve is that [2005-06]
a) curvature at all points of C b) torsion at all points of C
c) torsion at all points of C d) curvature at all points of C
6. The matrix of the coefficient of Serret – Frenet formula is [2006-07]

a) b) c) d)

7. Serret-Frenet formulae are given by [2011-12]

a) ; ; b) ; ;
c) d) ;
8. The rate of change of the tangent when we proceed along the curve is called the
[2012-13]
a) Normal b) Torsian c) Curvature vector D) unit tangential vector
9. For a curve the value of [2015]
a) b) c) D)

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Unit-IV - Differential Geometry Curves in Spaces & Helices

Circle of curvature (Osculating circle)

The osculating circle at any point P on a curve is the circle which has three point
contacts with the curve at P.

Equation of the circle of curvature is

where is the position vector of P, that of centre and the radius of the sphere.
Result
1. Position vector of the centre of the circle of curvature is
2. Radius of the circle of curvature is

Properties of Locus of the centre of circle curvature

Let C1 denote the locus of the centre of circle of curvature at the point P on the curve C.
1. If of C is constant then curvature of C1 is also constant and torsion of C1 is inversely
proportional to that of C.

2. The principal normal to C is normal to C1 at the points where curvature is stationary

ie., The principal normal to a curve is normal to the locus of the centre of curvature at
points of which the value of is stationary.
Sphere of curvature (Osculating sphere)
A sphere which has a four point contact with the curve at a point P is called the
osculating sphere at P.
Equation of the Sphere of curvature
Equation of the sphere of curvature is
where is the radius of the sphere, that of centre.
Result
1. Position vector of the centre of the sphere of curvature

2. Radius of the sphere of curvature is or

3. Radius of the sphere of curvature is

4. Radius of the sphere of curvature is

Note: For a curve of constant curvature i.e so that and hence

For a circular helix curvature is constant and as such

Properties of the locus of the centre of sphere of curvature

Let C1 denote the locus of the centre of sphere of curvature at the point P on the curve C
1. of C1 are parallel respectively to of C
2. The product of the torsion of C1 at corresponding points is equal to the product of
curvature at these points
3. If the curvature of C is constant then curvature of C1 is also constant

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Unit-IV - Differential Geometry Curves in Spaces & Helices

Result
1. If a curve lies on a sphere then and are connected by
i)
ii) where

2. The curve given by ; ; lies on a sphere.

3. If the radius of spherical curvature is constant then the curve either lies on a sphere
or has a constant curvature, where R is constant.

4. The necessary and sufficient condition that a curve lies on a sphere is that
at every point on the curve

5. A curve is drawn on a sphere of radius and the principal normal at a point P makes
an angle with the radius of the sphere to P. Then ;

6. For a curve drawn on a sphere, then the centre of curvature at any point is the foot of
the perpendicular from the centre of the sphere upon the osculating plane at the
point.

7. The tangent to the locus of the centre of the osculating sphere passes through the
centre of osculating circle.

8. The normal plane at any point P to the locus of the centre of curvature of any curve
bisects the radius of the spherical curvature at the corresponding point of the given
curve.

9. The osculating plane at every point of a curve touches a fixed sphere, then plane
through the tangent perpendicular to the principal normal passes through the centre
of the sphere.

10. The radius of curvature of the locus of the centre of curvature of a curve is

PG – TRB – Questions

1. If R is the radius of spherical curvature then [2001]

a) b) c) d)
2. The radius of spherical curvature R is [2002-03]
a) b) c) d)
3. The radius of spherical curvature R is given in terms of the radius of curvature of
the curve at P and the reciprocal of the torsion is given by [2006-07]
a) b)
c) d)
4. The curve given by ; ; lies on a [2015]
a) cone b) sphere c) cylinder D) circular helix

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Unit-IV - Differential Geometry Curves in Spaces & Helices

Helices (Cylindrical)

A space curve which lies on the surface of a cylinder and cuts the generators at a
constant angle is called a cylindrical helix.

Axis (generator) of the helix

The tangent to the cylindrical helix makes a constant angle with a fixed line is
known as axis (or) generator of the helix.

Theo: The necessary and sufficient condition for a curve to be a helix is that its curvature
and torsion are in a constant ratio.

Theo: Curvature and torsion of a helix C are in a constant ratio the curvature of the
plane curve C1 obtained by projecting C on a plane perpendicular to the axis of the
helix.

Other words, they are connected by the relations and

(or) and where is the radius of curvature of
the normal section of the cylinder through P and is the constant angle at which the
helix cuts the generator.

Result

1. If then the curve is helix (or) In, a helix the ratio is equal to constant

2. If then the curve is helix

3. The necessary and sufficient condition a curve be helix is that

Circular Helix

A helix which is described on the surface of a circular cylinder is called circular helix
(or) right circular helix.

Result

1. If the curvature and torsion are both constant then the curve is circular helix
2. In any cylindrical helix, the principal normal is normal to the cylinder, the bi-normal
makes a constant angle with the axis, the ratio of curvature and torsion is constant.

PG – TRB – Questions

1. In a helix the ration is equal to [2001]

a) 1 b) 0 c) a constant d) none of these
2. A curve is a helix if and only if [2003-04]
a) , where b) c) d)
3. For a cylindrical helix is [2004-05]
a) constant b) not a constant c)a function of S d) none of these
4. The necessary and sufficient condition for a curve to be a helix is that [2006-07]
a) the curvature is constant b) the torsion is constant
c) the product of the curvature and the torsion is constant
d) the ratio of the curvature and the torsion is constant

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Unit-IV - Differential Geometry Curves in Spaces & Helices

Spherical Indicatrix

The locus of a point whose position vector is the tangent vector to a curve is
called the Spherical Indicatix of the tangent to .

Result

1. Spherical indicatrix of the tangent to a curve C and on the indicatrix of the bi-normal
to C have parallel tangent line.

2. The Spherical indicatrix of a curve is circle if and only if the curve is a helix

3. The curvature and the torsion of the spherical indicatix of the tangent are given
by ;

4. The curvature and the torsion of the spherical indicatix of the bi-normal are
given by ;

Involutes and Evolutes

If tangents to a given space curve C are normal’s to another curve C 1 then the curve
C1 is called involutes of curve C and in turn C is called evolutes of curve C 1.

Result

1. The distance between corresponding points of two involutes is constant

2. The involutes of a circular helix are plane curves.
3. The locus of the centre of curvature is evolutes only when the curve is plane.
4. The tangents to two different evolutes corresponding to the values and of the
parameter drawn from the same point of the given curve are inclined to each other
at a constant angle .

Tangent surface of a space curve

The surface generated by tangent lines to a curve C is called the tangent surface of C.

Bertrand Curves

Two curves C and C1 are said to be Bertrand curves or conjugate if the principal
normal’s to C are also principal normal’s to C1.

Properties of Bertrand curves

1. The distance between corresponding points of the two curves is constant.
2. The angle between corresponding tangent lines to two Bertrand curves is constant
(or) The tangent to the two Bertrand curves and are inclined at a constant angle.

3. There exists a linear relation between curvature and torsion of each of the Bertrand
curves (or) For each curve and Bertrand curves there is a linear
relation with constant co-efficient between the curvature and torsion.

4. The torsion of the two Bertrand curves has the same sign and their product is
constant.

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