24/03/2013

1
VECTORES UNITARIOS
PARA UNA CURVA REGULAR
CAPTULO I
CLCULO VECTORIAL
Vectores Unitarios
ROSANIQUE ALVAREZ 2
X
Z
Y
i
j
k
b= (2, 7, 4)
k j i b 4 7 2 + +
[ ]
3
, : b a : C r
ROSANIQUE ALVAREZ 3
CURVA REGULAR
con rapidezarbitraria
) (t r'
VECTORES UNITARIOS
VECTOR TANGENTE
) (
) (
) (
t
t
t
r'
r'
T
) (t r'
0
P
) ( ) ( ) ( t t t T r' v
ROSANIQUE ALVAREZ 4
ROSANIQUE ALVAREZ 5
VECTORES TANGENTES A UNA CURVA
REGULAR
VECTOR NORMAL PRINCIPAL
0 ) ( ;
) (
) (
) (

t
t
t
t T
T
T
N
0
P
) ( ) ( ) ( t t t N T T
ROSANIQUE ALVAREZ 6
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2
VECTOR BINORMAL
0
P
) ( ) ( ) ( t t t N T B
ROSANIQUE ALVAREZ 7
EJEMPLO 1
Considere la curva regular Cdefinida por:
Determine el vector T(t) en el punto:
ROSANIQUE ALVAREZ 8
k j i r ) ( ) cos( ) ( ) cos( ) ( t sen t t sen t t + +
( ) 1 , 2 , 2
2
1
P
Solucin
Cuando t =7/4 se obtiene el punto
ROSANIQUE ALVAREZ 9
( ) 1 , 2 , 2
2
1
P
( )

,
_

,
_

+

0 ,
2
2
,
2
2
4
7
2 cos , cos ,
2 cos 1
1
) (
) (
) (
2

T
r'
r'
T t t t sen
t
t
t
t
k j i r ) ( ) cos( ) ( ) cos( ) ( t sen t t sen t t + +
ROSANIQUE ALVAREZ 10
-1
-0.5
0
0.5
1
1.5
-1
-0. 5
0
0.5
1
-0.5
0
0.5
X
Curva Cerrada
Y
Z
curvaCERRADA
k j i r ) ( ) cos( ) ( ) cos( ) ( t sen t t sen t t + +
TRIEDRO MOVIL
ROSANIQUE ALVAREZ 11
0
P
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.
ROSANIQUE ALVAREZ 12
TRIEDRO MOVIL
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ROSANIQUE ALVAREZ 13
VIDEO: Triedro
Espiral
-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 t sent t t r
ROSANIQUE ALVAREZ 14
VECTORES : VELOCIDAD ACELERACION
) ( ) ( n aceleraci
) ( ) ( velocidad
t t
t t
' r' a
r' v

ROSANIQUE ALVAREZ 15
VECTOR VELOCIDAD
) (
) (
) (
t
t
t
r'
r'
T
) ( ) ( ) ( t t t T r' r'
) ( ) ( ' ) ( velocidad t t t T r v
ROSANIQUE ALVAREZ 16
VECTOR ACELERACION
[ ] ) ( ) ( ) ( ) ( t t
dt
d
t
dt
d
t T r' r' a
) (
) (
) (
t
t
t
r'
r'
T
) ( ) ( ) ( t t t T r' r'
ROSANIQUE ALVAREZ 17
VECTOR ACELERACION
) ( ) ( ) (
) (
) ( t t t
dt
t d
t T r' T
r'
a +
[ ] ) ( ) ( ) ( ) ( t t
dt
d
t
dt
d
t T r' r' a
ROSANIQUE ALVAREZ 18
VECTOR ACELERACION

) (
) (
) (
t
t
t
T
T
N ) ( ) ( ) ( t t t N T T
) ( ) ( ) (
) (
) ( t t t
dt
t d
t T r' T
r'
a +
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ROSANIQUE ALVAREZ 19
VECTORA ACELERACION
) ( ) ( ) ( ) ( ) ( ) ( t t t s t t s t N T T a +
) ( ) ( ) (
) (
) ( t t t
dt
t d
t T r' T
r'
a +
, ) ( (t) pero: t s r' ) ( ) ( ) ( t t t N T T
ROSANIQUE ALVAREZ 20
COMPONENTES DE LA ACELERACION
{
) ( ) ( ) ( ) ( ) ( ) ( t t t s t t s t
N
T a
a
N T T a
43 4 2 1
+
) ( ) ( ) ( ) ( ) ( ) ( t t t s t t s t N T T a +
COMPONENTES DE LA ACELERACION
ROSANIQUE ALVAREZ 21
) (t s a
T

) ( ) ( t t s a
N
T
Componente tangencial de la aceleracin
Componente normal de la aceleracin
COMPONENTES DE LA ACELERACION
) ( ) ( ) ( t a t a t
N T
N T a +
ROSANIQUE ALVAREZ 22
) ( ) ( ) ( ) ( ) ( ) ( t t t s t t s t N T T a +
COMPONENTES DE LA ACELERACION
T
a
T
N
a
N
ROSANIQUE ALVAREZ 23
) ( ) ( ) ( t a t a t
N T
N T a +
) (t s a
T

) ( ) ( t t s a
N
T
2 2
2 2 2
2 2 2
) (
) (
) ( ) ( ) (
T N
N T
N T
a t a
a a t
t a t a t

+
+
a
a
N T a
COMPONENTES DE LA ACELERACION
ROSANIQUE ALVAREZ 24
) ( ) ( ) ( t a t a t
N T
N T a +
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' r' r '
r
'
'
r
'
ROSANIQUE ALVAREZ 25
Vector Binormal
) ( ) (
) ( ) (
) (
t t
t t
t
' r' r'
' r' r'
B

ROSANIQUE ALVAREZ 26
[ ] b a t t t t , ); ( ) ( ) ( T B N x
VECTORES UNITARIOS
ROSANIQUE ALVAREZ 27
) (
) (
) (
t
t
t
r'
r'
T
) ( ) (
) (
) (
) ( t t
t
t
t T B
T
T
N x

) ( ) (
) ( ) (
) ( ) ( ) (
t t
t t
t t t
' r' r'
' r' r'
N T B

x
PARAUNA CURVA REGULAR Y DE RAPIDEZARBITRARIA
EJEMPLO 2
Considerando la siguiente funcin vectorial
Determine los vectores unitarios T(t), B(t), N(t)
para t =0, 1, 2.
ROSANIQUE ALVAREZ 28

,
_

3
, , 2 ) (
3
2
t
t t t r
Solucin
Vector Tangente
ROSANIQUE ALVAREZ 29
( )
( ) 2
, 2 , 2
) (
) (
) (
2
2
+

t
t t
t
t
t T
r
r

,
_

3
, , 2 ) (
3
2
t
t t t r
Solucin: vector Binormal
( )
( ) 2
2 , 2 ,
) ( ) (
) ( ) (
) (
2
2
+

t
t t
t t
t t
t B
' r' r'
' r' r'
ROSANIQUE ALVAREZ 30
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Solucin
Vector Normal Principal
ROSANIQUE ALVAREZ 31
( )
( )
( )
( )
( )
( )
2
2
3 4 3
2
2
2
2
2
4 2 , 4 , 4 2
) (
2
, 2 , 2
2
2 , 2 ,
) ( ) ( ) (
+
+

+ +

t
t t t t t
t
t
t t
t
t t
t t t
N
T B N x x
ROSANIQUE ALVAREZ 32
( )
( ) 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
Solucin: VECTORES UNITARIOS
Solucin
ROSANIQUE ALVAREZ 33
t r(t) T(t) N(t) B(t)
0 P
0
(0, 0, 0) (1,0,0) (0,1,0) (0,0,1)
1 P
1
(2, 1, 1/3)
2 P
2
(4, 4, 8/3)
) 1 , 2 , 2 (
3
1
) 2 , 1 , 2 (
3
1

) 2 , 2 , 1 (
3
1

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

) 2 , 2 , 1 (
3
1

,
_

3
, , 2 ) (
3
2
t
t t t C r :
ROSANIQUE ALVAREZ 34
curvaregular6
-2
0
2
4
6
8
-5
0
5
10
-2
0
2
4
6
8
10

X
Y
Z
Curva
vector tangente
vector normal
binormal

,
_

3
, , 2 ) (
3
2
t
t t t C r :
EJEMPLO 3
Determine el vector Binormal de la curva plana
ROSANIQUE ALVAREZ 35
[ ] 4 , 0 ; 3 ) cos ( ) (cos ) ( + + + t t t t sen t sen t t t k j i r
Solucin
ROSANIQUE ALVAREZ 36
[ ] 4 , 0 ; 3 ) cos ( ) (cos ) ( + + + t t t t sen t sen t t t k j i r
[ ]

'

+
3
4 , 0 , cos
cos
:
z
t t t sent y
tsent t x
C
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Solucin
ROSANIQUE ALVAREZ 37
( )
0 ) 1 , 0 , 0 (
, 0 , 0
) (
) ( ) (
) ( ) (
) (
2
2

t
t
t
t
t t
t t
t
k; B
' r' r'
' r' r'
B
Solucin
ROSANIQUE ALVAREZ 38
k B ) (t Vector Binormal constante
[ ] 4 , 0 ; 3 ) cos ( ) (cos ) ( + + + t t t t sen t sen t t t k j i r
0 ) (t
t d
d
B
B
NOTA:
-15
-10
-5
0
5
10
-15
-10
-5
0
5
10
2
2. 2
2. 4
2. 6
2. 8
3
3. 2
3. 4
3. 6
3. 8
4
X
Y
Z
CURVA PLANA
ROSANIQUE ALVAREZ 39
CurvaPlana
[ ] 4 , 0 ; 3 ) cos ( ) (cos ) ( + + + t t t t sen t sen t t t k j i r
VECTORES UNITARIOS
CURVA REGULAR DE RAPIDEZ UNITARIA
1 ) ( s u'
ROSANIQUE ALVAREZ 40
CURVA REGULAR DE RAPIDEZ UNITARIA
ROSANIQUE ALVAREZ 41
[ ]
3
, : : d c C u
1 ) ( s u
Rapidez unitaria
s : longitud de arco
CURVA REGULAR DE RAPIDEZUNITARIA
ROSANIQUE ALVAREZ 42
) ( ) ( s s T u'
VECTOR TANGENTE
1 ) ( s u'
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CURVA REGULAR DE RAPIDEZUNITARIA
ROSANIQUE ALVAREZ 43
) (
) (
) (
) (
) (
s
s
s
s
s
' u'
' u'
T
T
N

VECTOR NORMAL PRINCIPAL

1 ) ( s u'
CURVA REGULAR DE RAPIDEZUNITARIA
ROSANIQUE ALVAREZ 44
) ( ) ( ) ( s s s N T B
VECTOR BINORMAL
1 ) ( s u'
) (
) ( ) (
) (
s
s s
s
' u'
' u' u'
B
x

VECTORES UNITARIOS
ROSANIQUE ALVAREZ 45
) ( ) ( s s u' T
) (
) (
) (
) (
) (
s
s
s
s
s
u
u
T
T
N

) (
) ( ) (
) ( ) ( ) (
s
s s
s s s
' u'
' u' u'
N T B

x
PARAUNA CURVA REGULAR Y DE RAPIDEZUNITARIA
EJEMPLO 4
ROSANIQUE ALVAREZ 46
Sea C la curva suave de rapidez unitaria,
definida por
( )

'

s s z
s y
s x
s
arctan
1 ln
arctan
) (
2
2
2
u
Determine los vectores unitarios Tangente,
Normal y Binormal.
Solucin: vector tangente
ROSANIQUE ALVAREZ 47
) ( ) ( s s u' T
( )
2
2
, 2 , 1
1
1
) ( s s
s
s
+
T
( )

'

s s z
s y
s x
s
arctan
1 ln
arctan
) (
2
2
2
u
Solucin: vector normal principal
ROSANIQUE ALVAREZ 48
) (
) (
) (
) (
) (
s
s
s
s
s
' u'
' u'
T
T
N

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

+
' u'
2
1
2
) (
s
s
+
u
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Solucin: vector normal principal
ROSANIQUE ALVAREZ 49
( )
( ) ( ) s s s
s
s 2 , 1 , 2
1
1
) (
2
2

+
N
) (
) (
) (
) (
) (
s
s
s
s
s
' u'
' u'
T
T
N

Solucin: vector Binormal

ROSANIQUE ALVAREZ 50
( )
( ) 1 , 2 ,
1
1
) (
2
2
s s
s
s
+
B
) (
) ( ) (
) (
s
s s
s
' u'
' u' u'
B
x

Solucin: vectores unitarios

ROSANIQUE ALVAREZ 51
( )
( ) 1 , 2 ,
1
1
) (
2
2
s s
s
s
+
B
( )
( ) ( ) s s s
s
s 2 , 1 , 2
1
1
) (
2
2

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

'

s s z
s y
s x
s
arctan
1 ln
arctan
) (
2
2
2
u
s: longitud de arco
Solucin: vector Binormal
ROSANIQUE ALVAREZ 52
( )
( ) 1 , 2 ,
1
1
) (
2
2
s s
s
s
+
B
2
1
2
) (
s
s
+
B'
( )
( ) ( ) s s s
s
s 2 , 1 2 , 2
1
1
) (
2
2
2

+
B'
s: longitud de arco
0 ) ( lim

s
s
B'
Solucin
ROSANIQUE ALVAREZ 53
s P B(s) B(s) ||B(s)||
0 (0,0,0) (0, 0, 1) (0,-2,0) 2
1 (0.78,0.49,0.21) (1,-2,1) (2,0,-2) 1
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
( )
( ) 1 , 2 ,
1
1
) (
2
2
s s
s
s
+
B
Solucin
ROSANIQUE ALVAREZ 54
-1
-0.5
0
0.5
1
1.5
2
2.5
-0.5
0
0.5
1
1.5
2
2.5
-0.5
0
0.5
1
1.5
2
2.5
3

X
Y
Z
Curva
u(0)
u(1)
u(2)
u(3)
Vector Binormal
curvaregular5
||B(0)||=2
||B(1) || =1
||B(2) ||=0,4
||B(3) ||=0.2
2
1
2
) (
s
s
+
B'
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ROSANIQUE ALVAREZ 55
RECTAS
R
e
c
ta
T
a
n
g
e
n
te
0 P
RECTAS
RECTA TANGENTE A CEN P
0
(x
0
, y
0
, z
0
) esta dado
por
ROSANIQUE ALVAREZ 56
{ } + / ) ( :
0 0
t P P
T
T l
RECTA
RECTA NORMAL A CEN P
0
(x
0
, y
0
, z
0
)esta dado
por:
ROSANIQUE ALVAREZ 57
{ } + / ) ( :
0 0
t P P
N
N l
PLANOS
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
ific
a
n
te
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
ROSANIQUE ALVAREZ 58
PLANOS
Plano Osculador en el punto (x
0
, y
0
, z
0
)
Plano Normal Principal en el punto (x
0
, y
0
, z
0
)
Plano Rectificante en el punto (x
0
, y
0
, z
0
)
ROSANIQUE ALVAREZ 59
( ) [ ] 0 ) ( , , ) , , ( :
0 0 0 0
t z y x z y x B
( ) [ ] 0 ) ( , , ) , , ( :
0 0 0 0
t z y x z y x T
( ) [ ] 0 ) ( , , ) , , ( :
0 0 0 0
t z y x z y x N
ROSANIQUE ALVAREZ 60
( ) [ ] 0 ) ( , , ) , , ( :
0 0 0 0
t z y x z y x B
PLANO OSCULADOR A LA CURVA REGULAR C
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ROSANIQUE ALVAREZ 61
PLANO OSCULADOR A LA CURVA REGULAR C
EJEMPLO 5
Determine el vector binormal y la ecuacin del
plano osculadora la curva regular
en el punto
ROSANIQUE ALVAREZ 62
2 0
) ( ) cos( ) ( ) cos( ) ( :

+ +
t
t sen t t sen t t C k j i r
( ) 1 , 2 , 2
2
1
P
Solucin: vector Binormal
ROSANIQUE ALVAREZ 63

,
_

,
_

,
_

,
_

,
_

4
7
4
7
4
7
4
7
4
7

' r' r'

' r' r'
B
( ) 1 , 2 , 2 ,
4
7
2
1
P t

Solucin
ROSANIQUE ALVAREZ 64
( ) 1 , 2 , 2
5
1
) 4 / 7 (
Binormal Vector
B
( ) 1 , 2 , 2 ,
4
7
2
1
P t

Solucin: Plano Osculador
ROSANIQUE ALVAREZ 65
( ) 1 , 2 , 2 ,
4
7
2
1
P t

0
4
7
2
1
,
2
2
,
2
2
) , , ( :
,
_

1
1
]
1

,
_

B z y x
Solucin
ROSANIQUE ALVAREZ 66
2
3
2 2
Osculador Plano
+ z y x
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Grfica
ROSANIQUE ALVAREZ 67
curvaCERRADA1
-1
-0.5
0
0.5
1
-1
-0.5
0
0.5
1
-0.5
0
0.5
X
Curva Cerrada
Y
Z
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