20/03/2015

CLCULO VECTORIAL

CAPTULO I

Vectores Unitarios

SESIN 6

VECTORES UNITARIOS

b = (2, 7, 4)

Z
j

b = 2i + 7 j + 4k

PARA UNA CURVA REGULAR

Y
X

ROSA NIQUE ALVAREZ

VECTOR TANGENTE

VECTORES UNITARIOS
CURVA REGULAR
Sea

C : r : [a, b] 3

T (t ) =

r' (t )
r' (t )

r' (t )

una curva

con rapidez arbitraria, denotada por

P0

v (t ) = r' (t ) T (t )

r' (t )

ROSA NIQUE ALVAREZ

ROSA NIQUE ALVAREZ

VECTOR NORMAL PRINCIPAL

VECTORES TANGENTES A UNA CURVA

REGULAR

N (t ) =

T (t )
T (t )

T (t ) 0
P0

T (t ) = T (t ) N (t )

ROSA NIQUE ALVAREZ

ROSA NIQUE ALVAREZ

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VECTOR BINORMAL

EJEMPLO 1
Considere la curva regular C definida por:

B (t ) = T (t ) N (t )

r (t ) = cos( t ) i + sen (t ) j + cos( t ) sen (t ) k

Determine el vector T(t) en el punto:

P0

P=1

ROSA NIQUE ALVAREZ

2 , 2 ,1

ROSA NIQUE ALVAREZ

C : r (t ) = cos( t ) i + sen (t ) j + cos( t ) sen (t ) k

Solucin
r (t ) = cos( t ) i + sen (t ) j + cos( t ) sen (t ) k

0.5

2 , 2 ,1

0
Z

Cuando t =7/4 se obtiene el punto

(
2

P=1

Curva Cerrada

T (t ) =

r' (t )
1
( sen t, cos t , cos 2t )
=
r' (t )
1 + cos 2 2t

-0.5
1
0.5
0
-0. 5

2
7 2
T
,
, 0
=
4
2
2

-1

-1

-0.5

0.5

1.5

curvaCERRADA

ROSA NIQUE ALVAREZ

TRIEDRO MOVIL

ROSA NIQUE ALVAREZ

10

TRIEDRO MOVIL

El triedro mvil es
una estructura que
juega un importante
papel en la rama de
las
matemticas
conocida
como
geometra diferencial
y
en
sus
aplicaciones
al
movimiento de naves
espaciales.

P0

ROSA NIQUE ALVAREZ

11

ROSA NIQUE ALVAREZ

12

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20/03/2015

r (t ) = ( cos t,

VECTORES : VELOCIDAD Y ACELERACIN

sent , t ); t [ 0, 6 ]
Hlice Circular

20

velocidad

v (t ) = r' (t )

aceleracin

a (t ) = r' ' (t )

15

10

0
1
1

0.5
0.5

0
0
-0.5
Y

-0.5
-1

-1
X

VIDEO: Triedro
Espiral
ROSA NIQUE ALVAREZ

13

ROSA NIQUE ALVAREZ

VECTOR VELOCIDAD

T (t ) =

r' (t )
r' (t )

velocidad

VECTOR ACELERACION
T (t ) =

r' (t ) = r' (t ) T (t )

v (t ) = r ' (t ) T (t )

ROSA NIQUE ALVAREZ

r' (t ) = r' (t ) T (t )

r' (t )
r' (t )

a (t ) =

d
d
r' (t ) = [ r' (t ) T (t )
dt
dt

15

ROSA NIQUE ALVAREZ

16

VECTOR ACELERACION

VECTOR ACELERACION
a (t ) =

d
d
r' (t ) = [ r' (t ) T (t )
dt
dt

a (t ) =

d r' (t )
T (t ) + r' (t ) T (t )
dt

ROSA NIQUE ALVAREZ

14

a (t ) =

N (t ) =

17

d r' (t )
T (t ) + r' (t ) T (t )
dt

T (t )

T (t )

T (t ) = T (t ) N (t )

ROSA NIQUE ALVAREZ

18

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a (t ) =

VECTORA ACELERACION

COMPONENTES DE LA ACELERACION

d r' (t )
T (t ) + r' (t ) T (t )
dt

a (t ) = s(t ) T (t ) + s(t ) T (t ) N (t )

pero: s(t) = r'(t) ,

T (t ) = T (t ) N (t )

(t ) T (t ) + s(t ) T (t ) N (t )
a (t ) = s{
14243

a (t ) = s(t ) T (t ) + s(t ) T (t ) N (t )

ROSA NIQUE ALVAREZ

aT

aN

19

ROSA NIQUE ALVAREZ

20

COMPONENTES DE LA ACELERACION

COMPONENTES DE LA ACELERACION
Componente tangencial de la aceleracin

aT = s(t )

a ( t ) = s (t ) T (t ) + s(t ) T (t ) N ( t )

Componente normal de la aceleracin

a (t ) = aT T (t ) + a N N (t )

a N = s(t ) T (t )

ROSA NIQUE ALVAREZ

ROSA NIQUE ALVAREZ

21

22

COMPONENTES DE LA ACELERACION

COMPONENTES DE LA ACELERACION

a (t ) = aT T (t ) + a N N (t )
N

a (t ) = aT T (t ) + a N N (t )
a

a (t )

aT = s(t )
a N = s(t ) T(t )

a (t )
a

= aT T (t ) + aN N (t )

= aT + a N

aT

aN =
ROSA NIQUE ALVAREZ

23

a (t )

ROSA NIQUE ALVAREZ

24

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20/03/2015

Vector Binormal

r ' r' '

r''

B (t ) =

r'

N (t ) = B(t ) x T (t ); t [a, b]

ROSA NIQUE ALVAREZ

25

VECTORES UNITARIOS
PARA UNA CURVA REGULAR Y DE RAPIDEZ ARBITRARIA

T (t ) =

N (t ) =

T (t )
= B (t ) x T (t )
T (t )
r' (t ) r' ' (t )
r' (t ) r' ' (t )

r (t ) = 2 t,

Vector Tangente
T (t ) =

r (t )
r (t )

EJEMPLO 2

ROSA NIQUE ALVAREZ

27

t2,

t3
3

28

Solucin: vector Binormal

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

B (t ) =

ROSA NIQUE ALVAREZ

26

Determine los vectores unitarios T(t), B(t), N(t)

para t = 0, 1, 2.

ROSA NIQUE ALVAREZ

Solucin

ROSA NIQUE ALVAREZ

Considerando la siguiente funcin vectorial

3

r (t ) = 2 t , t 2 , t
3

r' (t )
r' (t )

B (t ) = T (t ) x N (t ) =

r' (t ) r' ' (t )

r' (t ) r' ' (t )

29

r' (t ) r' ' (t )

=
r' (t ) r' ' (t )

(t

ROSA NIQUE ALVAREZ

, 2 t, 2
2
+2

(t

30

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Solucin

Solucin: VECTORES UNITARIOS

Vector Normal Principal

(t
N (t ) = B (t ) x T (t ) =
N (t ) =

( 2t

4t , 4 t 4 , 2t 3 + 4t )

(t

Solucin
r(t)

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

+ 2)

( 2t

(t

T(t)

31

t2,

N(t)

t3
3

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

4t , 4 t 4 , 2t 3 + 4t )

C : r (t ) = 2 t ,

B (t ) =

N (t ) =

ROSA NIQUE ALVAREZ

T (t ) =

, 2 t , 2 ) (2, 2 t , t 2 )
(t 2 + 2) x (t 2 + 2)

+ 2)

ROSA NIQUE ALVAREZ

C : r (t ) = 2 t ,

B(t)

32

t3
3

t2,

Curva
vector tangente
vector normal
binormal

10
8

P0(0, 0, 0)

(1,0,0)

(0,1,0)

(0,0,1)

1
( 2, 1, 2)
3

1
(1, 2, 2 )
3

4
2

P1(2, 1, 1/3)

P2(4, 4, 8/3)

1
(2, 2, 1)
3
1
(1, 2, 2)
3

1
( 2, 1, 2 )
3

0
-2
10

1
(2, 2, 1)
3

0
Y

-5

-2

2
X

curvaregular6
ROSA NIQUE ALVAREZ

ROSA NIQUE ALVAREZ

33

34

EJEMPLO 3

Solucin

Determine el vector Binormal de la curva plana

r (t ) = (cos t + t sen t ) i + (sen t t cos t ) j + 3 k ; t [0, 4 ]

r (t ) = (cos t + t sen t ) i + (sen t t cos t ) j + 3 k ; t [0, 4 ]

x = cos t + tsent

C : y = sent t cos t , t [0, 4 ]

z = 3

La curva C esta contenida en el plano z = 3

ROSA NIQUE ALVAREZ

35

ROSA NIQUE ALVAREZ

36

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20/03/2015

Solucin

Solucin

r (t ) = (cos t + t sen t ) i + ( sen t t cos t ) j + 3 k ; t [0, 4 ]

r' (t ) r' ' (t )

r' (t ) r' ' (t )

B(t ) =

B(t ) =

r (t ) = (cos t + t sen t ) i + (sen t t cos t ) j + 3 k ; t [0, 4 ]

Vector Binormal constante

(0, 0, t ) = ( 0, 0, 1) = k;
2

t2

NOTA:

t 0

ROSA NIQUE ALVAREZ

37

B(t ) = k

dB
= B(t ) = 0
dt
ROSA NIQUE ALVAREZ

38

r (t ) = (cos t + t sen t ) i + (sen t t cos t ) j + 3 k ; t [0, 4 ]

CURVA PLANA

VECTORES UNITARIOS

4
3.8
3.6
3.4

CURVA REGULAR DE RAPIDEZ UNITARIA

3.2
3
2.8
2.6
2.4

u' ( s ) = 1

2.2
2
10
5
0
-5

CurvaPlana

-10
-15
Y

-15

-5

-10

10

ROSA NIQUE ALVAREZ

ROSA NIQUE ALVAREZ

39

CURVA REGULAR DE RAPIDEZ UNITARIA

40

CURVA REGULAR DE RAPIDEZ UNITARIA

u' ( s ) = 1

Sea C : u : [c, d ]

una curva
VECTOR TANGENTE

u( s ) =1

rapidez unitaria

s : longitud

T ( s ) = u' ( s )

de arco

ROSA NIQUE ALVAREZ

41

ROSA NIQUE ALVAREZ

42

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CURVA REGULAR DE RAPIDEZ UNITARIA

CURVA REGULAR DE RAPIDEZ UNITARIA

u' ( s ) = 1

u' ( s ) = 1

VECTOR BINORMAL

VECTOR NORMAL PRINCIPAL

B ( s ) = T ( s) N ( s )
N (s) =

T ( s )
u' ' ( s )
=
T ( s )
u' ' ( s )

B( s) =

ROSA NIQUE ALVAREZ

43

VECTORES UNITARIOS

ROSA NIQUE ALVAREZ

Sea C la curva suave de rapidez unitaria,

definida por

T ( s) = u' ( s )

x = arctan s

u( s) = y = 22 ln s 2 + 1
z = s arctan s

T ( s)
u( s)
N ( s) =
=
T ( s)
u( s)

u' (s ) u' ' (s )

u' ' ( s)
45

Solucin: vector tangente

ROSA NIQUE ALVAREZ

N (s) =

ROSA NIQUE ALVAREZ

T ( s)
u'' (s)
=
T ( s)
u'' (s)

u'' (s) =

T ( s) = u' ( s)

46

Solucin: vector normal principal

x = arctan s

u( s) = y = 22 ln (s 2 + 1)
z = s arctan s

1
1, 2 s, s 2
1+ s2

Determine los vectores unitarios Tangente,

Normal y Binormal.

ROSA NIQUE ALVAREZ

T ( s) =

44

EJEMPLO 4

PARA UNA CURVA REGULAR Y DE RAPIDEZ UNITARIA

B( s) = T ( s ) x N ( s ) =

u' ( s) x u'' ( s)
u'' ( s)

(1+ s )

u(s) =
47

2 2

( 2s, 2(1 s ), 2s )
2

2
1 + s2
ROSA NIQUE ALVAREZ

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Solucin: vector normal principal

N (s) =

Solucin: vector Binormal

T ( s)
u'' ( s)
=
T ( s)
u'' ( s)

N ( s) =

1
(1 + s ) (

B( s ) =

2 s, 1 s 2 , 2 s

B ( s) =

ROSA NIQUE ALVAREZ

B( s) =

2 s, 1

ROSA NIQUE ALVAREZ

Solucin

B ( s) =

1
(1 + s ) ( s ,
2

1
(1 + s ) ( s ,

B' ( s ) =

50

B' ( s) =

B' ( s) =

2 s, 1

( 2s, 2 (s 1), 2s )

2
1+ s2

lim B' (s) = 0

s

ROSA NIQUE ALVAREZ

52

Solucin

2
1+ s2

Curva
u(0)
u(1)
u(2)
u(3)
Vector Binormal

B(s)

B(s)

(1 + s )

51

2 s, 1

2 s, 1

s: longitud de arco

1
2
N (s ) =
(1 + s 2 ) 2 s, (1 s ), 2 s

)( s ,

Solucin: vector Binormal

1
T ( s) =
1, 2 s , s 2
1+ s2

1
1 + s2

)( s ,

ROSA NIQUE ALVAREZ

s: longitud de arco

B( s) =

1
1+ s 2

49

Solucin: vectores unitarios

x = arctan s

u( s ) = y = 22 ln (s 2 + 1)
z = s arctan s

u' ( s) x u' ' ( s)

u' ' ( s)

||B(s)||

2.5

(0, 0, 1)

(0,-2,0)

1 (0.78,0.49,0.21)

(1,-2,1)

(2,0,-2)

B' (s ) =

1.5
Z

0 (0,0,0)

2
1+ s2

||B(0)||=2
||B(1) || =1
||B(2) ||=0,4
||B(3) ||=0.2

0.5

2 (1.11,1.14,0.89) 1/5(4,-22,1)

1/25(4,32,-4)

2/5=0.4

3 (1.25,1.63,1.75) 1/10(9,-32,1)

1/100(6,82,-6)

2/10=0.2

-0.5
2.5
2
1.5
1
0.5
0
Y

-0.5

-1

-0.5

0.5

ROSA NIQUE ALVAREZ

53

ROSA NIQUE ALVAREZ

1.5

2.5

curvaregular5
54

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RECTAS

RECTAS

RECTA TANGENTE A C EN P0 (x0, y0, z0) esta dado

por

Recta Binormal

B
P0

l T : { P = P0 + T (t 0 ) /

ta
ec

Re
c ta

te
en
ng
Ta

No

rm
al

ROSA NIQUE ALVAREZ

55

ROSA NIQUE ALVAREZ

RECTA

PLANOS

RECTA NORMAL A C EN P0 (x0, y0, z0) esta dado

por:

l N : { P = P0 + N (t 0 ) /

Recta Binormal

no te
Pla ican
tif
c
Re

T
cta
Re
ROSA NIQUE ALVAREZ

56

57

PLANOS

nte
ge
an

B
P0

N
Os Plan
cu o
lad
or

Plan
Norm o
al

Re
cta

No

rm
a

ROSA NIQUE ALVAREZ

58

PLANO OSCULADOR A LA CURVA REGULAR C

Plano Osculador en el punto P0 (x0, y0, z0)

: [( x, y , z ) ( x0 , y0 , z 0 )] B (t 0 ) = 0

Plano Normal Principal en el punto P0 (x0, y0, z0)

: [( x, y, z ) (x0 , y 0 , z 0 )] T (t 0 ) = 0

Plano Rectificante en el punto P0 (x0, y0, z0)

: [( x, y, z ) ( x0 , y0 , z0 )] N (t 0 ) = 0
ROSA NIQUE ALVAREZ

59

ROSA NIQUE ALVAREZ

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PLANO OSCULADOR A LA CURVA REGULAR C

: [( x, y, z ) ( x0 , y0 , z0 )] B (t0 ) = 0

EJEMPLO 5
Determine el vector binormal y la ecuacin del
plano osculador a la curva regular
C : r (t ) = cos( t ) i + sen (t ) j + cos( t ) sen (t ) k
0 t 2

en el punto

ROSA NIQUE ALVAREZ

61

Solucin: vector Binormal

t=

7
, P=
4

1
2

P = 12

2, 2,1

ROSA NIQUE ALVAREZ

Solucin

t=

62

7
, P=
4

1
2

2, 2,1

2, 2,1

Vector Binormal
7
B
=
4

7
7
r'
r' '
4

4
7
7
r'
r' '
4
4

B (7 / 4) =

ROSA NIQUE ALVAREZ

63

Solucin: Plano Osculador

t=

7
, P=
4

B(7 / 4) =

1
2

1
5

1
5

2, 2, 1

ROSA NIQUE ALVAREZ

64

Solucin

2, 2 ,1

2, 2, 1

Plano Osculador

2 x 2 y + z = 32

2
2 1
7
P: ( x, y, z )
,
, B
=0
2
2
4

2
ROSA NIQUE ALVAREZ

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ROSA NIQUE ALVAREZ

66

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Grfica

EJEMPLO 6

C : r (t ) = cos( t ) i + sen (t ) j + cos( t ) sen (t ) k

0 t 2

Dada la siguiente curva regular

Curva Cerrada

t3
C : r ( t ) = 2 t , t 2 ,
3

0.5

Determine el vector binormal y el plano

osculador para cada punto de C cuando
t = 0,1,2.

0
0.5
-0.5
1

0
0.5
0

-0.5

curvaCERRADA1

-0.5

Y
ROSA NIQUE
ALVAREZ -1

-1

t3
C : r ( t ) = 2 t , t 2 ,
3

Solucin
r' (t ) r' ' (t )
B (t ) =
r' (t ) r' ' (t )
t = 0,

B (0 ) = ( 0, 0, 1) = k

t = 1,

B (1) =

t = 2,

1
B ( 2 ) = ( 2, 2, 1)
3

B (t ) =

Rosa ique Alvarez

67

(t

, 2t, 2
t2 + 2

Solucin Plano osculador

t3
C : r ( t ) = 2 t , t 2 ,
3

t = 1, P1 : [( x , y , z ) r (1)] B (1) = 0
t = 2, P2 : [( x, y, z ) r ( 2) ] B ( 2) = 0

69

Solucin Plano osculador

Rosa ique Alvarez

70

Solucin Plano osculador

t3
C : r ( t ) = 2 t , t 2 ,
3

t3
C : r ( t ) = 2 t , t 2 ,
3

t = 0 , P : [( x, y, z ) ( 0,0 ,0 )] B (0 ) = 0

t = 0, P0 : z = 0

t = 1, P : [( x, y , z ) ( 2,1,1 / 3) ] B (1) = 0

1 1
x+ y
3 2
8
t = 2, P2 : 6 x 6 y + 3 z = 8 z = 2 x + 2 y
3

t = 1, P1 : 3 x 6 y + 6 z = 2 z =

t = 2, P : [( x, y, z ) ( 4, 4,8 / 3) ] B ( 2) = 0

Rosa ique Alvarez

t = 0, P0 : [( x, y, z ) r (0 ) ] B ( 0) = 0

1
(1, 2, 2)
3

Rosa ique Alvarez

68

71

Rosa ique Alvarez

72

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Plano osculador a C para t =0,1,2

t3
C : r ( t ) = 2 t , t 2 ,
3

B (0 ) = k
B (1) =

1
(1, 2, 2)
3

1
B (2) = (2, 2, 1)
3

-2
8
6
4
2
0
-2

PlanoOsculador2

-2

Rosa ique Alvarez

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