26 The Moving Trihedral Mathematics 22

→
−
Let C be a smooth curve defined by a vector function R (t).

1. Unit Tangent Vector to C : 3. Unit Binormal Vector to C :

→
−0 →
− →
− →
−
→
− R (t) B (t) = T (t) × N (t)
T (t) = →−0 →
−0
|| R (t)|| T (t)
= → −0
|| T (t)||
Notes:
→
− →
− →
− →
−
(a) If || R 0 (t)|| is constant, then 4. Moving Trihedral of C: T (t), N (t), and B
→
− →
− 5. Frenet Frame: space created by T , N , B.
R (t) · R 0 (t) = 0,
→
− →
−
that is, R and R 0 are perpendicular.
→
− →
−
(b) T points in the same direction as R 0 .

2. Unit Normal Vector to C :

→
−0
→
− T (t)
N (t) = →−0
|| T (t)||

Notes:
→
−
(a) N points towards the concave side of
the curve.
→
− →
−
(b) N is always perpendicular to T .

Exercises: Do as indicated.
*√ √ +
→
− →
− 3 1 3 →
−
1. Let R be a vector function such that T (t) = cos 2t, , sin 2t and R (0) = h1, 0, −1i.
2 2 2
Find:
→
−
(a) the unit tangent, unit normal, and unit binormal vectors to the graph of R at t = 0.
→
−
(b) an equation of the osculating, rectifying, and normal planes to the graph of R at t = 0.
* √ √ √ +
→
− →
−0 →
− 6 6 6
2. Given R (π) = h1, 4, 3i, T (π) = h−1, −1, 0i, and B (π) = − , , . Find:
6 6 3
→
−
(a) the unit tangent vector T at t = π.
(b) the equation of the rectifying plane at t = π.
→
− →
−
3. Let the smooth curve C be the graph of the vector function R such that R (0) = h3, 1, 2i,
→
−0 →
−
R (0) = h2, 2, 1i, and R 00 (0) = h1, 1, −1i. At the point on C corresponding to t = 0, give the
following:

(a) equation of normal plane

(b) unit binormal vector