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1 2
P0
con rapidez arbitraria, denotada por r' (t ) v (t ) = r' (t ) T (t )
3 4
P0
T (t ) = T (t ) N (t )
C N(t)
d
T (t ) = T (t ) N (t )
dt
5 6
1
28/03/2023
C
T (t )
T(t) P0 N (t ) = ; T (t ) 0 C
T (t ) T(t) P0
N(t)
N(t)
B (t ) = T (t ) N (t )
7 8
9 10
TRIEDRO MÓVIL
(TRIEDRO FRENET-SERRET)
EJEMPLO 1
Considere la curva regular C definida por:
( ) ( )
r (t ) = 3t − t 3 i + 3t 2 j + 3t + t 3 k , t 0,3
11 12
2
28/03/2023
T (t ) =
r' (t )
r' (t )
PROGRAMA MATLAB ( ) (
C : r (t ) = 3t − t 3 i + 3t 2 j + 3t + t 3 k , t 0,3)
Solución ( )
)( )
1 r (t ) = 2 1 + t 2
1 − t 2 , 2t , 1 + t 2
T (t ) =
(
2 1+ t 2
( )
C : r (t ) = 3t − t 3 i + 3t 2 j + 3t + t 3 k ( ) %Grafica curva y vectores tangentes unitarios
%Grafica los vectores tangentes a C
%punto final de C
F=plot3(-18,27,36,'og')
%puntos de ubicación del vector tangente set(F,'lineWidth',5)
( ) ( )
clear; clc; clf reset grid on
r (t ) = 3 − 3t 2 i + 6t j + 3 + 3t 2 k s=linspace(0.3,2.5,4);
x=3*s-s.^3;
hold on
pause
y=3*s.^2; %Grafica la curva C
z=3*s+s.^3; t=linspace(0,3,300);
(3 − 3t ) ( ) ( )
%componentes de vector tangente a C
2 2 2
+ (6t )2 + 3 + 3t 2
x=3*t-t.^3;
r (t ) = = 18 1 + t 2 a=1./((sqrt(2))*(1+s.^2));
u=a.*(1-s.^2);
y=3*t.^2;
z=3*t+t.^3;
v=a.*2.*s; comet3(x,y,z)
w=a.*(1+s.^2); H=plot3(x,y,z,'b');
A=quiver3(x,y,z,u,v,w,'r'); set(H,'lineWidth',2)
)( )
r' (t ) 1 set(A,'lineWidth',2) grid on
1 − t 2 , 2t , 1 + t 2
T (t ) = =
(
hold on xlabel('X','fontsize',12)
r' (t ) 2 1+ t 2 pause ylabel('Y','fontsize',12)
%punto inicial de C zlabel('Z','fontsize',12)
G=plot3(0,0,0,'or') title('CURVA','fontsize',20,'fontweight','b')
set(G,'lineWidth',5)
hold on
13 14
velocidad : v (t ) = r' (t )
d
aceleración : a (t ) = (r' (t ) ) = r' ' (t )
dt
curvaVecTan
15 16
velocidad v (t ) = r ' (t ) T (t )
r' (t ) = r' (t ) T (t )
d d
a (t ) =
El vector velocidad v(t)es paralelo al vector tangente dt dt
unitario T(t)
17 18
3
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dt dt
T (t )
N (t ) = T (t ) = T (t ) N (t )
T (t )
dt
d r' (t) = d s(t) = s(t)
dt dt
19 20
21 22
23 24
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a (t ) = aT T (t ) + a N N (t ) 2 2 2
a (t ) = aT T (t ) + a N N (t )
N
N
aT = s(t )
a
2
N
a a (t ) = aT 2 + a N 2
a N = s(t ) T (t )
T
2 2
aT
T aT = a (t ) − aN 2 ; aN = a (t ) − aT 2
25 26
VECTOR BINORMAL B (t ) = T (t ) N (t )
VECTORES UNITARIOS
Sea C una curva regular de rapidez arbitraria r ' r' ' r' (t ) = r' (t ) T (t )
a (t ) = aT T (t ) + a N N (t ) = r (t )
TRIEDRO MÓVIL o TRIEDRO FRENET-SERRET r''
r' (t ) El vector: r' (t ) r' ' (t )
T (t ) =
r' (t ) B(t)
B
r' es paralelo al vector B(t)
T (t ) N
N (t ) = ; T (t ) 0 C T Por lo tanto, el vector
T (t ) T(t) P0 Plano
Osculador
r' (t ) r' ' (t )
N(t) B (t ) =
B (t ) = T (t ) N (t ) r' (t ) r' ' (t )
27 28
B (t ) = T (t ) N (t ) P0 T (t ) =
r' (t )
T N
r' (t )
B
r' (t ) r' ' (t )
r' (t ) r' ' (t ) B (t ) = T (t ) x N (t ) =
B (t ) = C r' (t ) r' ' (t ) P0
r' (t ) r' ' (t ) T N
T (t )
N (t ) = = B (t ) x T (t )
N (t ) = B(t ) x T (t ); t a, b T (t ) C
29 30
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28/03/2023
EJEMPLO 2 Solución t3
r (t ) = 2 t , t2,
3
Considerando la siguiente función vectorial
3 Vector Tangente
r (t ) = 2 t , t 2 , t
3
T (t ) =
r (t ) =
( 2 , 2 t, t ) 2
para t = 0, 1, 2.
31 32
t3
Solución: vector Binormal Solución r (t ) = 2 t , t2,
3
3
r (t ) = 2 t , t 2 , t Vector Normal Principal
3
N (t ) = B (t ) x T (t ) =
(t 2
, − 2 t, 2
x
) (
2, 2 t , t 2 )
( t +2
2
) t2 + 2 ( )
B (t ) =
r' (t ) r' ' (t )
=
(t 2
, − 2 t, 2 )
r' (t ) r' ' (t ) ( t2 + 2 ) (− 2t 3
− 4t , 4 − t 4 , 2t 3 + 4t )
N (t ) =
(t 2
+2 )
2
33 34
(t + 2 )
2
t P = r(t) T(t) N(t) B(t)
B (t ) =
(t 2
, − 2 t, 2 ) 0 P0(0, 0, 0) (1,0,0)=i (0,1,0)=j (0,0,1)=k
( t2 + 2 ) 1 P1(2, 1, 1/3) 1
3
(2, 2, 1)
1
3
(−2, 1, 2)
1
3
(1, − 2, 2)
1
(− 2t ) 2 P2(4, 4, 8/3) 1 (−2, − 1, 2) 1
(1, 2, 2)
3
− 4t , 4 − t 4 , 2t 3 + 4t 3 3 3
(2, − 2, 1)
N (t ) =
(t 2
+2 )
2
35 36
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t3 EJEMPLO 3
C : r (t ) = 2 t , t2,
3
10
Curva
vector tangente
Determine el vector Binormal de la curva plana
8 vector normal
4
Z
-2
10
0
8
4 6
Y 2
-5 0
-2
X
curvaregular6
ROSA NIQUE ALVAREZ 37 ROSA NIQUE ALVAREZ 38
37 38
Solución Solución
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
B (t ) =
(0, 0, t ) = ( 0, 0, 1) = k;
2
t (0, 4
2
La curva C esta contenida en el plano z = 3 t
39 40
3.6
B (t ) = k = (0 , 0 ,1)
3.4
3
Z
2.8
2.6
2.4
dB
= B(t ) = 0
2.2
NOTA: 2
dt 10
5
0
-5 10
5
CurvaPlana -10
-15 -10
-5
0
-15
Y
X
41 42
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x = 4 cos t
EJEMPLO 4
C : y = 4sent t 0, 2 r' (t ) x r' ' (t ) 1
(− 1, 0,1)
z = 4 cos t B (t ) = =
r' (t ) x r' ' (t ) 2
x = 4 cos t
r' (t ) x r' ' (t ) = 16(− 1, 0,1)
C : y = 4sent t 0, 2 r' (t ) x r' ' (t ) = 16 2
z = 4 cos t
CURVA PLANA
8
S1 : x 2 + y 2 = 16 Cilindro 6
S2 : z = x Plano 2
Z
0
Cilindro y Plano. -4
4
2 5
0 0
CurvaPlana1 -2
-4 -10
-5
Y X
Rosa Ñique Alvarez 43 Rosa Ñique Alvarez 44
43 44
VECTORES UNITARIOS
Sea C una curva regular de rapidez arbitraria
VECTORES UNITARIOS
TRIEDRO MÓVIL o TRIEDRO FRENET-SERRET
r' (t ) CURVA REGULAR DE RAPIDEZ UNITARIA
T (t ) =
r' (t ) B(t)
T (t )
N (t ) = ; T (t ) 0 C
T (t ) T(t) P0 u' ( s ) =1
N(t)
B (t ) = T (t ) N (t )
45 46
47 48
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T (t )
VECTOR BINORMAL
N (t ) = ; T (t ) 0
VECTOR NORMAL T (t )
PRINCIPAL B( s) = T ( s) N ( s)
T ( s) u' ' ( s )
N ( s) = =
T ( s) u' ' ( s )
u' ( s) x u' ' ( s)
B( s) =
u' ' ( s)
ROSA NIQUE ALVAREZ 49 ROSA NIQUE ALVAREZ 50
49 50
51 52
u' ' ( s) =
1
(− 2s, 2 (1 − s ), 2s )
2
T ( s ) = u' ( s )
(1 + s )
2 2
T ( s) =
1
1+ s2
(
1, 2 s, s 2 ) u( s) =
2
1+ s2
ROSA NIQUE ALVAREZ 53 ROSA NIQUE ALVAREZ 54
53 54
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28/03/2023
T ( s )
u' ( s) x u' ' ( s)
N ( s) = =
u' ' ( s ) B( s) =
T ( s ) u' ' ( s ) u' ' ( s)
(1 + s ) (− ( ) )
1
)( s , − )
N ( s) = 2 s, 1 − s 2 , 2 s 1
2
B( s) = 2
2 s, 1
( 1+ s2
55 56
(1 + s ) (− ( ) )
1 TRIEDRO MOVIL ó
(1 + s ) (− )
N ( s) = 2
2 s, 1 − s 2 , 2 s TRIEDRO FRENET-
N ( s) =
1
( )
2 s, 1 − s 2 , 2 s
SERRET 2
(1 + s ) ( s , − )
1
)( s , − )
1 B( s) = 2
2 s, 1
B( s) = 2
2 s, 1
(
2
1+ s2
ROSA NIQUE ALVAREZ 57 ROSA NIQUE ALVAREZ 58
57 58
(1 + s ) ( s , − )
B( s) =
1 2 2
x = arctan s Solución 2
2 s, 1 B' ( s ) =
1+ s2
Solución: vector Binormal (
u( s ) = y = 22 ln s 2 + 1 )
z = s − arctan s
s P B(s) B’(s) ||B’(s)||
s: longitud de arco
(1 + s ) ( s , − )
1 0 (0,0,0) (0, 0, 1) = k (0,-√2,0) 2
B( s) = 2
2
2 s, 1
B' ( s) =
dB
=
1
( 2s, 2 (s − 1), − 2s )
2
ds (
1+ s2 ) 2
2 (1.11,1.14,0.89) 1/5(4,-2√2,1) 1/25(4,3√2,-4) 2/5=0.4
2 2
B' ( s ) = lim B' ( s ) = lim =0 3 (1.25,1.63,1.75) 1/10(9,-3√2,1) 1/100(6,8√2,-6) 2/10=0.2
1+ s2 s → s → 1+ s2
59 60
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Solución
RECTAS
Curva
u(0)
3
u(1)
u(2)
u(3)
2.5
Vector Binormal
2 Recta Binormal
2
1.5 B' ( s ) =
1+ s2
Z
1
C
||B’(0)||=2 B
0.5
||B’(1) || =1
0 ||B’(2) ||=0,4 P0
||B’(3) ||=0.2 N
-0.5
2.5
lim B' ( s ) = 0 T
2
s →
1.5
1 Re
te c ta
0.5
2
2.5
en No
1.5
ng rm
Ta
0 1
0.5 al
c ta
0
-0.5 -0.5
-1
Y
X
curvaregular5 Re
ROSA NIQUE ALVAREZ 61 ROSA NIQUE ALVAREZ 62
61 62
RECTAS RECTA
RECTA TANGENTE A C EN P0 (x0, y0, z0) esta dado RECTA NORMAL A C EN P0 (x0, y0, z0) esta dado
por por:
N : P = P0 + N (t 0 ) /
T : P = P0 + T (t 0 ) /
63 64
PLANOS PLANOS
• Plano Osculador en el punto P0 (x0, y0, z0)
: ( x, y, z ) − (x0 , y0 , z0 ) B(t0 ) = 0
Recta Binormal
no te C
Pla ican
B • Plano Normal Principal en el punto P0 (x0, y0, z0)
f
e cti Plan
: ( x, y, z ) − (x0 , y0 , z0 ) T (t0 ) = 0
R
P0 Norm o
N al
T
Os Plan • Plano Rectificante en el punto P0 (x0, y0, z0)
cu o
te lad Re
cta
: ( x, y, z ) − (x0 , y0 , z0 ) N (t0 ) = 0
ng
en or No
rm
Ta al
cta
Re
ROSA NIQUE ALVAREZ 65 ROSA NIQUE ALVAREZ 66
65 66
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28/03/2023
Ρ : ( x, y, z ) − (x0 , y0 , z0 ) B(t0 ) = 0
67 68
69 70
B(7 / 4) =
1
5
( 2, − 2, 1)
2
P : ( x, y, z ) −
2
,−
2
2 1 7
,− B
2 4
=0
71 72
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28/03/2023
B (7 / 4) =
1
( )
2, − 2, 1 Gráfica
Solución 5
Plano Osculador en P = 1
2
( 2 ,− 2 ,−1 )
0.5
2 x − 2 y + z = 32 0 1
Z
0.5
-0.5
1 0
0.5
0 -0.5
curvaCERRADA1 -0.5 X
-1
ROSA NIQUE ALVAREZ 73 Y
ROSA NIQUE ALVAREZ -1 74
73 74
t3
EJEMPLO 7 Solución C : r (t ) = 2t , t 2 ,
3
75 76
77 78
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28/03/2023
B ( 0) = k 4
t = 0, P0 : z = 0 1 2
B (1) = (1, − 2, 2)
3
0
1 1 1
B (2) = (2, − 2, 1)
t = 1, P1 : 3x − 6 y + 6 z = 2 → z = − x + y 3 -2
3 2 8
6
4
8 2 8
t = 2, P2 : 6 x − 6 y + 3z = 8 → z = − 2 x + 2 y
6
0 4
2
PlanoOsculador2 0
3 -2 -2
79 80
B (t ) =
(t 2
, − 2t , 2 )
SOLUCIÓN t2 + 2
dB
= B(t ) =
(
4t , 2t 2 − 4, − 4t )
dt t2 + 2( 2
)
B(0) = (0,−1,0 ) ; B(0) = 1
1 2
B(1) = (4,−2,−4) ; B(1) =
9 3
1 1
B( 2) = (8,4,−8) ; B(2) =
36 3
ROSA NIQUE ALVAREZ 81
81
14