16/04/2011

1
TORSION TORSION
PARA CURVAS REGULARES PARA CURVAS REGULARES
CURVA SUAVE DE RAPIDEZ UNITARIA
ds
dB
2 Rosa ique Alvarez
1 ) ( s u'
B(s).T(s) = 0
) 1 ( ) ( ortogonal ) (
0 ) ( ) (
0 ) ( ) ( ) ( ) ( ) ( ) ( ) (
0 ) ( ) ( ) ( ) (
s s
s s
s s s K s s s s
s s s s
T B
T B
N B T B T B
T B T B

+
3 Rosa ique Alvarez
) ( ) ( ) ( s s K s N T
, 1 ) ( ) ( 1 ) ( 1 ) (
2
s s s s B B B B
0 ) ( ) ( 2 S s B B
) 2 ( ) ( ortogonal ) ( s s B B
4 Rosa ique Alvarez
) 1 ( ) ( ortogonal ) ( s s T B
) 2 ( ) ( ortogonal ) ( s s B B
) ( paralelo es ) ( s s N B
5 Rosa ique Alvarez
B
T
N
P
la
n
o
O
s
c
u
la
d
o
r
P
la
n
o
N
o
rm
a
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la
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o
R
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if
i
c
a
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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
6 Rosa ique Alvarez
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2
Existe
) ( ) ( ) ( s s s N B
7 Rosa ique Alvarez
CURVA LA DE TORSION : ) (s
) ( ) ( s s B
DEFINICION
) ( ) ( ) ( s s s N B
8 Rosa ique Alvarez
Sea C una curva suave de rapidez
unitaria
[ ]
2
) (
) ( ) ( ) (
) (
s
s s s
s
' u'
' ' u' ' u' u'

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

'

s s z
s y
s x
s
arctan
1 ln
arctan
) (
2
2
2
u
10 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 11
( )
( ) 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 12 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
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Solucin: Torsin
Rosa ique Alvarez 13
2
1
2
) (
s
s
+

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

Rosa ique Alvarez 14
-4 -3 -2 -1 0 1 2 3 4
0
0.5
1
1.5
s
t
o
rs
io
n
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 15
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 16
28 , 0 ) 2 (
41 , 1 ) 0 (

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
) 89 , 0 ; 14 , 1 ; 11 , 1 ( ) 2 (
) 0 , 0 , 0 ( ) 0 (

u
u
CURVA SUAVE DE RAPIDEZ
ARBITRARIA
[ ]
2
) ( ) (
) ( ) ( ) (
) (
t t
t t t
t
' r' r'
' ' r' ' r' r'

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

,
_

3
, , 2 ) ( :
3
2
t
t t t C r
18 Rosa ique Alvarez
Determine los vectores que
conforman el triedro mvil y calcule
la Torsin de C.
Dada la ecuacin de siguiente curva
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Solucin
Rosa ique Alvarez 19
( )
2
, 2 , 2
) (
) (
) (
) (
2
2
+

t
t t
t
t
t
t
T
r'
r'
T
Vector Tangente
Solucin
Rosa ique Alvarez 20
( )
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 21
( )
( )
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: Torsin
Rosa ique Alvarez 22
[ ]
( )
2
2
2
2
2
) (
) ( ) (
) ( ) ( ) (
) (
+

t
t
t t
t t t
t

' r' r'

' ' r' ' r' r'
Rosa ique Alvarez 23
-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 24
t r(t) T(t) N(t) B(t) Torsin
-1
P
1
(-2,1,-1/3)
1/3(2,-2,1) 1/3(2,1,-2) 1/3(1,2,2) 2/9=0.2
0
P
2
(0, 0, 0)
(1,0,0) (0,1,0) (0,0,1) =0.5
1
P
3
(2, 1, 1/3)
2/9=0.2
) 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
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Rosa ique Alvarez 25
-4
-2
0
2
4
-1
0
1
2
3
4
-2
-1
0
1
2
3

X
Y
Z
Curva
binormal
r(-1)
r(0)
r(1)
curvaregular8
5 , 0 ) 0 (
2 , 0 ) 1 (

EJEMPLO 3

,
_

3
,
2
, ) ( :
3 2
t t
t t C r
26 Rosa ique Alvarez
Dada la siguiente curva
Determine el vector Binormal y la
Torsin de C
Solucin
1 4
2
) (
2 4
+ +

t t
t
( )
1 4
1 , 2 ,
) (
2 4
2
+ +

t t
t t
t B
27 Rosa ique Alvarez

,
_

3
,
2
, ) ( :
3 2
t t
t t C r
-2
-1
0
1
2
0
0.5
1
1.5
2
-3
-2
-1
0
1
2
3
X
Grafica de la curva C
Y
Z
0 10 20 30 40
0.2
0.4
0.6
0.8
1
1.2
1.4
1.6
1.8
2
t
T
o
rs
io
n
Grafica de la Torsion de C
28 Rosa ique Alvarez
EJEMPLO 4
La siguiente curva regular C esta definida
por:
Considerando un radio de curvatura igual a
dos, determine los valor de a en el instante
que la curva C cruza el plano XY.
29 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 30
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
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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
31 Rosa ique Alvarez
1 ,
cosh 2
1
) (
2
t a
t a
t K
Solucin:
Rosa ique Alvarez 32
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 33
a = 1
t a
t K
t
2
cosh 2
) (
1
) (
2 2 ) 0 ( a
EJEMPLO 6
Considere la curva regular C definida por:
para los valores de a = 1 indique en que
caso la curva es ascendente o descendente.
34 Rosa ique Alvarez
0 ; 1 1 ; ) ( ) cosh( ) ( + + a t t a t senh a t a t k j i r
Solucin
Rosa ique Alvarez 35
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
Solucin
Rosa ique Alvarez 36
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
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EJERCICIO 4
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
37 Rosa ique Alvarez
Solucin
Rosa ique Alvarez 38
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
Solucin
Rosa ique Alvarez 39
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 40
( )
t
t t senh
t
cosh 2
1 ), cosh( ), (
) (

B
( ) 0 , 1 1 ; , ) ( , ) cosh( ) ( < a t at t asenh t a t r
0
cos 2
1
) (
2
<
t sh a
t
Solucin a < 0
Rosa ique Alvarez 41
curva6
-2. 5
-2
-1.5
-1
-0.5
-3
-2
-1
0
1
2
3
-2
-1.5
-1
-0.5
0
0.5
1
1.5
0
cos 2
1
) (
2
<
t sh a
t
a < 0
Solucin
Rosa ique Alvarez 42
1 , 0
cos 2
1
) (
2
< a
t sh a
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
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Rosa ique Alvarez 43
( )
t
t t senh
t
cosh 2
1 ), cosh( ), (
) (

B
( ) 0 , 1 1 ; , ) ( , ) cosh( ) ( < a t at t asenh t a t r
0
cos 2
1
) (
2
>
t sh a
t
Solucin a > 0
Rosa ique Alvarez 44
0
1
2
3
-3
-2
-1 0
1 2
3
-2
-1.5
-1
-0.5
0
0.5
1
1.5
2
curva16
0
cos 2
1
) (
2
>
t sh a
t a < 0
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
45 Rosa ique Alvarez
Solucin
1 , 0
cos 2
1
) (
2
> a
t sh a
t
curva es plana
0
46 Rosa ique Alvarez
Una curva es plana si y solo si
EJERCICIO 7
( ) t t sen t t C cos 4 , 4 , cos 4 ) ( : r
47 Rosa ique Alvarez
Dada la siguiente curva
Determine el vector Binormal y la
Torsin de C
Solucin: Vector Binormal constante
Rosa ique Alvarez 48
) 1 , 0 , 1 (
2
1
) ( t B
( ) t t sen t t C cos 4 , 4 , cos 4 ) ( : r
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Solucin Torsin
Rosa ique Alvarez 49
0 ) ( t
( ) t t sen t t C cos 4 , 4 , cos 4 ) ( : r
Solucin
La curva C es plana y esta contenida en el
plano
z = x
Rosa ique Alvarez 50
( ) t t sen t t C cos 4 , 4 , cos 4 ) ( : r
Solucin: curva plana
Rosa ique Alvarez 51
-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
RESUMEN:
Rosa ique Alvarez 52
) ( ) ( s s B
[ ]
2
) (
) ( ) ( ) (
) (
s
s s s
s
' u'
' ' u' ' u' u'

CURVA SUAVE DE RAPIDEZ UNITARIA
RESUMEN:
Rosa ique Alvarez 53
CURVA SUAVE DE RAPIDEZ ARBITRARIA
[ ]
2
) ( ) (
) ( ) ( ) (
) (
t t
t t t
t
' r' r'
' ' r' ' r' r'

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