1. Arc Length and Curvature
When learning arc length with parametric functions, we found that the length of a curve defined by x = f (t) and y = g(t) over the interval a ≤ t ≤ b was
We use the same formula for the length of the curve given by on the interval a ≤ t ≤ b.

2. If , we could also write

3. Ex. Find the length of the curve r(t) = cos t i + sin t j + t k from (1,0,0) to (1,0,2π)

4. These vector functions are the same:
They are just reparameterizations of the same curve.

5. The arc length function is defined as
We will see how to reparameterize a curve using s.

6. Ex. Reparameterize the curve r(t) = cos t i + sin t j + t k with respect to the arc length measured from (1,0,0).

7. The unit tangent vector of r(t) is defined as
The curvature, κ, of a curve describes how sharply it bends.
small κ
big κ

8. Thm. The curvature of a curve is
where T is the unit tangent vector and s is the arc length parameter.
An easier equation would be
(Formula 9)

9. Ex. Find the curvature of the circle with radius a.

10. We can also find curvature using
(Formula 10)

11. Ex. Find the curvature of the space curve
at any point t. What happens to the curvature as t→∞?

12. If we’re looking for the curvature of a plane curve y = f (x), there’s yet another formula:

13. Ex. Find the curvature of the y = x2 at the points (0,0), (1,1), and (-1,1).

14. We know that
|T(t)| = 1 for all t.
We saw last class that if |u| = c, then u ∙ u = 0.
So T ∙ T = 0 for all t.
T is orthogonal to T for all t.

15. We are going to define the principal unit normal vector as
and the binormal vector as

16. T shows the direction that the curve is going
N shows the direction that the curve is turning
B is orthogonal to both

17. Ex. Find the principal unit normal and the binormal vectors of