24/03/2013

1
TORSIN TORSIN
PARA CURVAS REGULARES PARA CURVAS REGULARES
CAPTULO I
CLCULO VECTORIAL
CURVA SUAVE DE RAPIDEZ UNITARIA
ds
dB
2 Rosa ique Alvarez
1 ) ( s u'
INTRODUCCIN
B(s).T(s) = 0
) ( ) ( ) ( ) ( ) (
) ( ) ( ) ( ) (
0 ) ( ) ( ) ( ) (
s s s K s s
s s s s
s s s s
N B T B
T B T B
T B T B


+
3 Rosa ique Alvarez
) ( ) ( ) ( s s K s N T
INTRODUCCIN
) 1 ( ) ( ortogonal ) (
0 ) ( ) (
) ( ) ( ) ( ) ( ) (
s s
s s
s s s K s s
T B
T B
N B T B

4 Rosa ique Alvarez
INTRODUCCIN
, 1 ) ( ) ( 1 ) ( 1 ) (
2
s s s s B B B B
0 ) ( ) ( 2 S s B B
) 2 ( ) ( ortogonal ) ( s s B B
5 Rosa ique Alvarez
INTRODUCCIN
) 1 ( ) ( ortogonal ) ( s s T B
) 2 ( ) ( ortogonal ) ( s s B B
) ( paralelo es ) ( s s N B
6 Rosa ique Alvarez
INTRODUCCIN
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B
T
N
P
la
n
o
O
s
c
u
la
d
o
r
P
la
n
o
N
o
rm
a
l
P
la
n
o
R
e
c
t
if
i
c
a
n
t
e
R
e
c
ta
T
a
n
g
e
n
te
R
e
c
ta
N
o
rm
a
l
Recta Binormal
0
P
C
7 Rosa ique Alvarez
INTRODUCCIN
Existe
) ( ) ( ) ( s s s N B
8 Rosa ique Alvarez
CURVA LA DE TORSION : ) (s
) ( paralelo es ) ( s s N B
INTRODUCCIN
Torsin de la curva
) ( ) ( ) ( s s s N B
9 Rosa ique Alvarez
) ( ) ( s s B
) (s
La torsin mide la rapidez con que una curva se
aleja de su plano osculador en el punto P.
DEFINICION
) ( ) ( ) ( s s s N B
10 Rosa ique Alvarez
Sea C una curva suave de rapidez
unitaria
P PUNTO EL EN CURVA LA DE TORSION : ) (s
Rosa ique Alvarez 11
Torsin de la curva
) (s
) ( ) ( ) ( s s s N B
) ( ) ( ) ( s s s N B
s: funcin longitud de arco
[ ]
2
) (
) ( ) ( ) (
) (
s
s s s
s
' u'
' ' u' ' u' u'

12 Rosa ique Alvarez
Torsin para una curva suave y de
rapidez unitaria
Calculo Vectorial, Claudio Pita Ruiz. Pgina 528
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EJEMPLO 1
( )

'

s s z
s y
s x
s
arctan
1 ln
arctan
) (
2
2
2
u
13 ROSA IQUE ALVAREZ
Sea C la curva suave de rapidez unitaria,
definida por
Determine el vector Binormal y la Torsin
de C.
Solucin: vector binormal
Rosa ique Alvarez 14
( )
( ) 1 , 2 ,
1
1
) (
2
2
s s
s
s
+
B
) (
) ( ) (
) (
s
s s
s
' u'
' u' u'
B
x

Solucin: vector binormal

Rosa ique Alvarez 15
( )
( ) 1 , 2 ,
1
1
) (
2
2
s s
s
s
+
B
k B ) 1 , 0 , 0 ( ) 0 (
) 2 , 0 ; 57 , 0 ; 8 , 0 ( ) 2 ( B
) 0 89 , 0 ; 14 , 1 ; 11 , 1 ( ) 2 (
) 0 , 0 , 0 ( ) 0 (

u
u
Solucin
Rosa ique Alvarez 16 curvaregular5
-2
0
2
4
-1
0
1
2
3
-1
0
1
2
3

X
Y
Z
Curva
u(0)
u(2)
Vector Binormal
k B ) 1 , 0 , 0 ( ) 0 (
) 2 , 0 ; 57 , 0 ; 8 , 0 ( ) 2 ( B
SOLUCIN
ROSA IQUE ALVAREZ 17
( )
2
2
, 2 , 1
1
1
) ( s s
s
s
+
u
( )
( ) ( ) s s s
s
s 2 , 1 2 , 2
1
1
) (
2
2
2

+
u
2
1
2
) (
s
s
+
u
( )
( ) ( )
2 3 2
3
2
6 2 , 3 2 2 , 2 6
1
1
) ( s s s s
s
s
+
u
SOLUCIN
ROSA IQUE ALVAREZ 18
( )
( ) ( )
2 3 2
3
2
6 2 , 3 2 2 , 2 6
1
1
) ( s s s s
s
s
+
u
[ ]
( )
3
2
1
2 2
) ( ) ( ) (
s
s s s
+
u u u x
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Solucin: Torsin
Rosa ique Alvarez 19
2
1
2
) (
s
s
+

[ ]
2
) (
) ( ) ( ) (
) (
s
s s s
s
' u'
' ' u' ' u' u'

0 ) ( lim

s
s

Rosa ique Alvarez 20
2
1
2
) (
s
s
+

( )

'

s s z
s y
s x
s
arctan
1 ln
arctan
) (
2
2
2
u
Solucin: Torsin
Rosa ique Alvarez 21
2
1
2
) (
s
s
+

28 , 0
5
2
) 2 ( ), 89 , 0 ; 14 , 1 ; 11 , 1 ( ) 2 (
41 , 1 2 ) 0 ( ), 0 , 0 , 0 ( ) 0 (

u
u
Solucin
Rosa ique Alvarez 22 curvaregular5
-2
0
2
4
-1
0
1
2
3
-1
0
1
2
3

X
Y
Z
Curva
u(0)
u(2)
Vector Binormal
28 , 0 ) 2 ( ), 89 , 0 ; 14 , 1 ; 11 , 1 ( ) 2 ( u
41 , 1 ) 0 ( , ) 0 , 0 , 0 ( ) 0 ( u
CURVA SUAVE DE RAPIDEZ
ARBITRARIA
ds
dt
dt
d
ds
d B B

23 Rosa ique Alvarez
CURVA SUAVE DE RAPIDEZ
ARBITRARIA
[ ]
2
) ( ) (
) ( ) ( ) (
) (
t t
t t t
t
' r' r'
' ' r' ' r' r'

24 Rosa ique Alvarez
Calculo Vectorial, Claudio Pita Ruiz. Pgina 529
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EJEMPLO 2

,
_

3
, , 2 ) ( :
3
2
t
t t t C r
25 Rosa ique Alvarez
Determine los vectores que
conforman el triedro mvil y calcule
la Torsin de C.
Dada la ecuacin de siguiente curva
regular
Solucin
Rosa ique Alvarez 26
( )
2
, 2 , 2
) (
) (
) (
) (
2
2
+

t
t t
t
t
t
t
T
r'
r'
T
Vector Tangente
Solucin
Rosa ique Alvarez 27
( )
2
2 , 2 ,
) (
) ( ) (
) ( ) (
) (
2
2
+

t
t t
t
t t
t t
t
B
' r' r'
' r' r'
B
x
x
Vector Binormal
Solucin
Rosa ique Alvarez 28
( )
( )
2
2
3 4 3
2
4 2 ; 4 ; 4 2
) (
) ( ) ( ) (
+
+ +

t
t t t t t
t
t t t
N
T B N x
Vector Normal Principal
Solucin
Rosa ique Alvarez 29

,
_

3
, , 2 ) ( :
3
2
t
t t t C r
( )
2
, 2 , 2
) (
2
2
+

t
t t
t T
( )
2
2 , 2 ,
) (
2
2
+

t
t t
t B
( )
( )
2
2
3 4 3
2
4 2 ; 4 ; 4 2
) (
+
+ +

t
t t t t t
t N
TRIEDRO MOVIL
Solucin: Torsin
Rosa ique Alvarez 30
[ ]
( )
2
2
2
2
2
) (
) ( ) (
) ( ) ( ) (
) (
+

t
t
t t
t t t
t

' r' r'

' ' r' ' r' r'
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6
Rosa ique Alvarez 31
-2 -1.5 -1 -0.5 0 0.5 1 1.5 2
0.05
0.1
0.15
0.2
0.25
0.3
0.35
0.4
0.45
0.5
t
T
o
r
s
io
n
Grafica de la Torsion de C
( )
2
2
2
2
) (
+

t
t
Solucin
Rosa ique Alvarez 32
t r(t) T(t) N(t) B(t) Torsin
0
P
0
(0, 0, 0)
(1,0,0) (0,1,0) (0,0,1) =0.5
1
P
1
(2, 1, 1/3)
2/9=0.2
2
P
2
(4, 4, 8/3)
1/18=0.06
) 1 , 2 , 2 (
3
1
) 2 , 1 , 2 (
3
1
) 2 , 2 , 1 (
3
1

( )
3
2
3
, , 2 ) ( :
t
t t t C r
) 2 , 2 , 1 (
3
1
) 2 , 1 , 2 (
3
1
) 1 , 2 , 2 (
3
1

Rosa ique Alvarez 33

curvaregular8
06 , 0 ) 2 (
2 , 0 ) 1 (
5 , 0 ) 0 (

-2
0
2
4
6
8
-5
0
5
10
-2
0
2
4
6

r(2)
X
r(1)
r(0)
Y
Z
Curva
puntos
Binormal
EJEMPLO 3
34 Rosa ique Alvarez
Dada la siguiente curva regular
Determine el vector binormal y el plano
osculador para cada punto de C cuando
t = 0,1,2.

,
_

3
, , 2 ) ( :
3
2
t
t t t C r
Solucin
35 Rosa ique Alvarez

,
_

3
, , 2 ) ( :
3
2
t
t t t C r
( )
2
2 , 2 ,
) (
2
2
+

t
t t
t B
) 2 , 2 , 1 (
3
1
) 1 ( , 1 B t
) 1 , 2 , 2 (
3
1
) 2 ( , 2 B t
k B ) 1 , 0 , 0 ( ) 0 ( , 0 t
) ( ) (
) ( ) (
) (
t t
t t
t
' r' r'
' r' r'
B

Solucin Plano osculador

Rosa ique Alvarez 36
[ ] 0 ) 0 ( ) 0 ( ) , , ( : , 0
0
B r z y x P t
[ ] 0 ) 1 ( ) 1 ( ) , , ( : , 1
1
B r z y x P t
[ ] 0 ) 2 ( ) 2 ( ) , , ( : , 2
2
B r z y x P t
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Solucin Plano osculador
Rosa ique Alvarez 37
[ ] 0 ) 0 ( ) 0 , 0 , 0 ( ) , , ( : , 0 B z y x P t
[ ] 0 ) 1 ( ) 3 / 1 , 1 , 2 ( ) , , ( : , 1 B z y x P t
[ ] 0 ) 2 ( ) 3 / 8 , 4 , 4 ( ) , , ( : , 2 B z y x P t
Solucin Plano osculador
Rosa ique Alvarez 38
0 : , 0
0
z P t
y x z z y x P t + +
2
1
3
1
2 6 6 3 : , 1
1
y x z z y x P t 2 2
3
8
8 3 6 6 : , 2
2
+ +
Plano osculador a C para t =0,1,2
Rosa ique Alvarez 39

,
_

3
, , 2 ) ( :
3
2
t
t t t C r
-2
0
2
4
6
8
-2
0
2
4
6
8
-2
0
2
4
6
PlanoOsculador2
06 , 0 ) 2 (
2 , 0 ) 1 (
5 , 0 ) 0 (

EJEMPLO 4 ESPIRAL CIRCULAR

Rosa ique Alvarez 40
( ) [ ] 6 , 0 , , , cos ) ( t bt sent a t a t r
2 2
) (
b a
a
t K
+

2 2
) (
b a
b
t
+

La torsin depende
del signo de b
Curvatura:
Torsin:
Vector Tangente y Binormal de
la Espiral Circular
Rosa ique Alvarez 41
( ) [ ] 6 , 0 , , , cos ) ( t bt sent a t a t r
( )
2 2
, cos ,
) (
b a
b t a sent a
t
+

T
( )
2 2
, cos ,
) (
b a
a t b bsent
t
+

B
Vector Tangente y Binormal de
la Espiral Circular
Rosa ique Alvarez 42
( ) [ ] 6 , 0 , , , cos ) ( t bt asent t a t r
( )
2
1 , cos ,
) (
t sent
t

T
( )
2
1 , cos ,
) (
t sent
t

B
Caso I: a = b= 1
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TORSIN DE LA ESPIRAL CIRCULAR
Rosa ique Alvarez 43
-1
-0.5
0
0.5
1
-1
-0.5
0
0. 5
1
0
5
10
15
20
X
Hlice Circular
Y
Z
( ) [ ] 6 , 0 , , , cos ) ( t bt asent t a t r
0
2
1
) ( > t
Caso I: a = b= 1
2 2
) (
b a
b
t
+

Rosa ique Alvarez 44
-1. 5
-1
-0. 5
0
0.5
1
1.5
-1.5
-1
-0. 5
0
0.5
1
1.5
0
2
4
6
8
10
12
14
16
18
20

X
ESPIRAL,(>0)
Y

Z
Curva
vector tangent e
binormal
a=1,b=1
ESPIRALasd
Vector Tangente y Binormal de
la Espiral Circular
Rosa ique Alvarez 45
( ) [ ] 6 , 0 , , , cos ) ( t bt asent t a t r
( )
2
1 , cos ,
) (

t sent
t T
( )
2
1 , cos ,
) (
t sent
t

B
Caso II: a = 1, b= -1
TORSIN DE LA ESPIRAL CIRCULAR
Rosa ique Alvarez 46
( ) [ ] 6 , 0 , , , cos ) ( t bt asent t a t r
0
2
1
) ( < t
Caso II: a =1, b= -1
2 2
) (
b a
b
t
+

-1
-0.5
0
0.5
1
-1
-0.5
0
0.5
1
-20
-15
-10
-5
0
X
ESPIRAL
Y
Z
Rosa ique Alvarez 47
-1.5
-1
-0.5
0
0.5
1
1.5
-3
-2
-1
0
1
2
3
-25
-20
-15
-10
-5
0
5

X
ESPIRAL,(<0)
Y
Z
Curva
vector tangente
binormal
ESPIRALdes
Rosa ique Alvarez 48
-1.5 -1 -0.5 0 0.5 1 1.5
-4 -2 0 2 4
-25
-20
-15
-10
-5
0
5

X
ESPIRAL,(<0)
Y

Z
Curva
vector tangente
binormal
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CONCLUSIONES: ESPIRAL
Rosa ique Alvarez 49
( ) [ ] 6 , 0 , , , cos ) ( t bt asent t a t C r :
0
2
1
) ( > t
Caso I: a = b= 1
( )
2
1 , cos ,
) (
t sent
t

B
LA CURVA C ES ASCENDENTE
CONCLUSIONES: ESPIRAL
Rosa ique Alvarez 50
( ) [ ] 6 , 0 , , , cos ) ( t bt asent t a t C r :
0
2
1
) ( < t
Caso II: a =1, b= -1
( )
2
1 , cos ,
) (
t sent
t

B
LA CURVA C ES DESCENDENTE
EJEMPLO 5
La siguiente curva regular C esta definida
por:
Considerando un radio de curvatura igual a
dos, determine los valor de la constante a
en el instante que la curva C cruza el plano
XY.
51 Rosa ique Alvarez
0 ; 1 1 ; ) ( ) cosh( ) ( + + a t t a t senh a t a t k j i r
Solucin: radio de curvatura
Rosa ique Alvarez 52
t a
t K
t
2
cosh 2
) (
1
) (
t a
t
t t
t K
2 3
cosh 2
1
) (
) ( ) (
) (

r'
' r' r'
a 0
Solucin:
Rosa ique Alvarez 53
t a
t K
t
2
cosh 2
) (
1
) (
La curva cruza el plano XY cuando z = 0
z = a t = 0 si y solo si t = 0
0 ; 1 1 ; ) ( ) cosh( ) ( + + a t t a t senh a t a t k j i r
Solucin: radio de curvatura t = 0
Rosa ique Alvarez 54
a = 1
t a
t K
t
2
cosh 2
) (
1
) (
2 2 ) 0 ( a
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Solucin:
-1 -0. 8 -0. 6 -0.4 -0.2 0 0.2 0.4 0.6 0.8 1
0.2
0.25
0.3
0.35
0.4
0.45
0.5
t
K
Curvatura de C para abs(a) = 1
55 Rosa ique Alvarez
1 ,
cosh 2
1
) (
2
t a
t a
t K
EJEMPLO 6
Considere la curva regular C definida por:
para los valores que corresponden a la
constante a = 1 indique en que caso la
curva es ascendente o descendente.
56 Rosa ique Alvarez
1 1 ; ) ( ) cosh( ) ( + + t t a t senh a t a t k j i r
Solucin
Rosa ique Alvarez 57
1 1 ) ( ) cosh( ) ( : t t t senh t t C k, j i - r
Si a = -1, la curva es descendente
t z=-t
[-1,0) positivo
0 cero, cruza el plano XY
(0,1] negativo
1 1 ; ) ( ) cosh( ) ( + + t t a t senh a t a t k j i r
Solucin
Rosa ique Alvarez 58
Si a = 1, la curva es ascendente
1 1 ) ( ) cosh( ) ( : + + t t t senh t t C k, j i r
t z=t
[-1,0) negativo
0 cero , cruza el plano XY
(0,1] positivo
1 1 ; ) ( ) cosh( ) ( + + t t a t senh a t a t k j i r
EJEMPLO 7
Considere la curva suave C definida por:
Determine el vector Binormal y torsin de la
curva.
0 ; 1 1 ; ) ( ) cosh( ) ( + + a t t a t senh a t a t k j i r
59 Rosa ique Alvarez
Solucin
Rosa ique Alvarez 60
0 ,
cosh 2
1
) (
2
a
t a
t
( )
t
t t senh
t
cosh 2
1 ), cosh( ), (
) (

B
0 ; 1 1 ; ) ( ) cosh( ) ( + + a t t a t senh a t a t k j i r
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Solucin
Rosa ique Alvarez 61
0 ,
cosh 2
1
) (
2
a
t a
t
0
cosh 2
1
) ( , 0 Si
0
cosh 2
1
) ( , 0 Si
2
2
> >
< <
t a
t a
t a
t a

( )
t
t t senh
t
cosh 2
1 ), cosh( ), (
) (

B
Rosa ique Alvarez 62
0
cosh 2
1
) (
2
<
t
t
CASO I: a = -1< 0
( )
t
t t senh
t
cosh 2
1 ), cosh( ), (
) (

B
; 1 1 ; ) ( ) cosh( ) ( t t t senh - t t k j i r
Rosa ique Alvarez 63
curva23
0
cosh 2
1
) (
2
<
t
t a = -1< 0
-2.5
-2
-1.5
-1
-0.5
-4
-2
0
2
4
-2
-1
0
1
2

X
CURVA,(<0)
Y
Z
curva
tangente
binormal
Solucin
Rosa ique Alvarez 64
1 , 0
cosh 2
1
) (
2
< a
t
t
-1.6
-1. 4
-1.2
-1
-0.8
-2
-1
0
1
2
-1
-0.5
0
0.5
1
X
Curva regular para a = -1
Y
Z
-1 -0.5 0 0.5 1
-0.5
-0.45
-0.4
-0.35
-0.3
-0.25
-0.2
-0.15
t
T
Torsi on de C para a = -1
Rosa ique Alvarez 65
( )
t
t t senh
t
cosh 2
1 ), cosh( ), (
) (

B
( ) 1 1 ; , ) ( , ) cosh( ) ( t t t senh t t r
0
cosh 2
1
) (
2
>
t
t
CASO II: a=1> 0
Rosa ique Alvarez 66 curva16
0
cosh 2
1
) (
2
>
t
t a=1 > 0
0
1
2
3
-5
0
5
-2
-1.5
-1
-0.5
0
0.5
1
1.5
2

X
CURVA,(>0)
Y
Z
curva
tangente
binormal
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12
1
1.2
1. 4
1.6
1.8
-2
-1
0
1
2
-1
-0. 5
0
0. 5
1
X
Curva regul ar para a = 1
Y
Z
-1 -0.5 0 0.5 1
0.2
0.25
0.3
0.35
0.4
0.45
0.5
t
T
Torsion de Cpara a = 1
67 Rosa ique Alvarez
Solucin
1 , 0
cosh 2
1
) (
2
> a
t
t
CONCLUSIONES
Rosa ique Alvarez 68
0 ; 1 1 ; ) ( ) cosh( ) ( + + a t t a t senh a t a t : C k j i r
a = -1< 0
( )
t
t t senh
t
cosh 2
1 ), cosh( ), (
) (

B
0
cosh 2
1
) (
2
<
t
t
LA CURVA C ES DESCENDENTE
CONCLUSIONES
Rosa ique Alvarez 69
0 ; 1 1 ; ) ( ) cosh( ) ( + + a t t a t senh a t a t : C k j i r
a = 1> 0 ( )
t
t t senh
t
cosh 2
1 ), cosh( ), (
) (

B
0
cosh 2
1
) (
2
>
t
t
LA CURVA C ES ASCENDENTE
curva es plana
0
70 Rosa ique Alvarez
Una curva es plana si y solo si
EJEMPLO 8
( ) t t sen t t C cos 4 , 4 , cos 4 ) ( : r
71 Rosa ique Alvarez
Dada la siguiente curva regular
Determine el vector Binormal y la
Torsin de C
Solucin
Rosa ique Alvarez 72
( ) t t sen t t C cos 4 , 4 , cos 4 ) ( : r

'

t z
sent y
t x
C
cos 4
4
cos 4
:
16 : Cilindro
2 2
+ y x
x z : Plano
La curva C resulta de la interseccin del Cilindro y Plano
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Solucin
La curva C es plana y esta contenida en el
plano
z = x
Rosa ique Alvarez 73
( ) t t sen t t C cos 4 , 4 , cos 4 ) ( : r
Solucin: curva plana
Rosa ique Alvarez 74
-4
-2
0
2
4
-4
-2
0
2
4
-4
-2
0
2
4
X
Y
Z
( ) t t sen t t C cos 4 , 4 , cos 4 ) ( : r
Solucin: Vector Binormal constante
Rosa ique Alvarez 75
) 1 , 0 , 1 (
2
1
) ( t B
( ) t t sen t t C cos 4 , 4 , cos 4 ) ( : r
Solucin Torsin
Rosa ique Alvarez 76
0 ) ( t
( ) t t sen t t C cos 4 , 4 , cos 4 ) ( : r
RESUMEN:
Rosa ique Alvarez 77
) ( ) ( s s B
CURVA SUAVE DE RAPIDEZ UNITARIA
) ( ) ( ) ( s s s N B
RESUMEN:
Rosa ique Alvarez 78
[ ]
2
) (
) ( ) ( ) (
) (
s
s s s
s
' u'
' ' u' ' u' u'

CURVA SUAVE DE RAPIDEZ UNITARIA
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RESUMEN:
Rosa ique Alvarez 79
CURVA SUAVE DE RAPIDEZ ARBITRARIA
[ ]
2
) ( ) (
) ( ) ( ) (
) (
t t
t t t
t
' r' r'
' ' r' ' r' r'

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