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C om mun.Fac.Sci.U niv.A nk.Series A 1 Volum e 66, N umb er 2, Pages 332–339 (2017) D O I: 10.1501/C om mua1_ 0000000823 ISSN 1303–5991

http://com munications.science.ankara.edu.tr/index.php?series= A 1

ON THE SECOND ORDER INVOLUTE CURVES IN E3

¸

SEYDA KILIÇO ¼GLU AND SÜLEYMAN ¸SENYURT

Abstract. In this study we worked on the involute of involute curve of curve . We called them the second order involute of curve in E3. All Frenet apparatus of the second order involute of curve are examined in terms of Frenet apparatus of the curve . Further we show that; Frenet vector …elds of the second order involute curve 2 can be written based on the principal

normal vector …eld of curve . Besides, we illustrate examples of our results.

The involute of the curve is well known by the mathematicians especially the di¤er-ential geometry scientists. There are many important consequences and properties of curves. Involute curves have been studied by some authors [1, 2, 3, 5]. Let : I ! E3 be the C2 class di¤erentiable unit speed curve denote by fT; N; Bg

the moving Frenet frame. For an arbitrary curve 2 E3, with …rst and second

curvature, and respectively, the Frenet formulae are given by [3] 8 > < > : T0 = N N0 = T + B B0= N: (0.1)

The tangent lines to a curve generate a surface called the tangent surface of . A curve 1 which lies on the tangent surface of and intersects the tangent lines

orthogonally is called an involute of . The equation of the involutes is,

1(s) = (s) + (s)T (s); (s) = c s; c 2 R; (0.2)

where c is constant, [3]. The relationship are between Frenet apparatus of this curves as follows, [5].

Received by the editors: April 27, 2016; Accepted: March 05, 2017. 2010 Mathematics Subject Classi…cation. 53A04 - 53A05.

Key words and phrases. Involute curve, second order involute curve, Frenet apparatus. c 2 0 1 7 A n ka ra U n ive rsity C o m m u n ic a tio n s d e la Fa c u lté d e s S c ie n c e s d e l’U n ive rs ité d ’A n ka ra . S é rie s A 1 . M a th e m a t ic s a n d S t a tis t ic s .

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O N T H E SEC O N D O R D ER IN VO LU T E C U RV ES IN E 333 8 > > > < > > > : T1 = N N1 =p 2 + 2T +p 2+ 2B B1 = p 2 + 2T +p 2+ 2B; (0.3) and 1 = p 2 + 2 (c s) ; 1 = 2 0 (c s) ( 2+ 2): (0.4)

For any unit speed curve : I ! E3, the vector W is called Darboux vector which

is de…ned by [2]

W = T + B: (0.5)

If we consider the normalization of the Darboux C = kW k1 W , we have Figure 1

Figure 1. Darboux vector

sin ' = p 2

+ 2 = kW k; cos ' =p 2+ 2 = kW k (0.6)

and

C = sin 'T + cos 'B (0.7)

where \(W; B) = ', [4]. Substituting the equation (0.6) into equation (0.3) and (0.4), we can write [1], 8 > < > : T1= N N1 = cos 'T + sin 'B B1 = sin 'T + cos 'B; (0.8) and 1 = sec ' ; 1= '0 : (0.9)

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1. Second Order Involute Curve

1 : I ! E

3 and

2 : I ! E

3 are the arclengthed curves with the arcparameters

s1 and s2, respectively. The quantities fT1; N1; B1; 1; 1g and fT2; N2; B2; 2; 2g

are collectively Frenet-Serret apparatus of the curve 1 and the involute 2,

respec-tively. 1 has the parametrization with arclength s as the involute curve of (s).

Also 2 has the parametrization with arclength s as the involute curve of 1(s),

hence we can give the following de…nitions in terms of the parameter s. Let 2(s2)

be the involute of the curve 1(s) then we have the following equation

2(s) = 1(s) + 1T1(s) : (1.1)

Figure 2. Involute of involute of the curve

Theorem 1. The distance between corresponding points of the involute curve 1

and its involute 2 curve is 1= c1

Z

ds; c1= constant; 8s 2 I: (1.2)

Proof. Di¤erentiating (1.1), we can write ) T2

ds2

ds = 1 T + 1

0+ N +

1 B

where T1 = N and hT1; T2i = 0 is. If we multiply internal both sides of the equation

with T1 we have, 10+ = 0 ) 10= ) 1= c1 Z ds where c12 R and c1 is constant.

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O N T H E SEC O N D O R D ER IN VO LU T E C U RV ES IN E 335

Substituting the equation (0.2) and (0.3) into equation (1.1), this give as following de…nition:

De…nition 1. : I ! E3 be an unit speed curve. If

1 is an involute of and 2

is an involute of 1, then the curve 2 is called second order involute curve of .

2(s) = (s) + (s)T (s) + 1(s)N (s) (1.3)

is the expression of the second order involute curve .

Theorem 2. The Frenet vector …elds of the second order involute 2, based in the

Frenet apparatus of the curve are 8 > > > > > > > < > > > > > > > : T2 = kW kT +kW kB N2 = 1 kW k q kW k6+ ( 2n)2 3 nT + kW k4N + 2nB B2 = 1 q kW k6+ ( 2n)2 kW k 2 T 2 nN + kW k2 B (1.4)

Proof. It is easy to say that Frenet vectors of the second order involute 2; based

on the Frenet apparatus of the curve 1 are

8 > > > > < > > > > : T2= N1 N2 = 1 p 12+ 12 T1+ 1 p 2 1+ 2 1 B1 B2 = 1 p 1 2+ 2 1 T1+ 1 p 1 2+ 2 1 B1: (1.5)

Substituting (0.3) and (0.4) into equation (1.5), we have T2= N1 = T + B p 2 + 2 = T + B kW k ; N2= 1T1+ 1B1 p 2 1+ 2 1 = 1 kW k q kW k6+ ( 2n)2 3 nT + kW k4N + 2nB and B2 = 1T1+ 1B1 p 2 1+ 2 1 = q 1 kW k6+ ( 2n)2 kW k 2 T 2 nN + kW k2 B :

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where kW k =p 2+ 2and 0= n 6= 0, which has the following matrix form 2 4 NT22 B2 3 5 = 1 kW k 2 6 6 6 6 6 6 4 0 3n p kW k6+( 2n)2 kW k4 p kW k6+( 2n)2 2n p kW k6+( 2n)2 kW k2 p kW k6+( 2n)2 2n p kW k6+( 2n)2 kW k2 p kW k6+( 2n)2 3 7 7 7 7 7 7 5 2 4 NT B 3 5 (1.6)

Theorem 3. The …rst and the second curvatures of the second order involute 2

based on the Frenet apparatus of the curve are respectively.

2 = s kW k6+ ( 2n)2 2 1kW k6 ; 2 = 4n2 2n kW k3 0 1kW k (kW k6+ 4n2) (1.7) Proof. In order to calculate the curvature and torsion of the curve 2, we

di¤eren-tiate 8 > > > > > > > > < > > > > > > > > : 20= 1T + 1B; 200= 0 1 2 T kW k2 1N + 0 1+ B; 2000= 00 1 02 kW k 2 1 T 3+ kW k2 + 2 N + 00 1+ kW k2 1 + 0 B: (1.8)

The curvature of second order involute 2 is

2 = k 20^ 200k k 203 ; 2= s kW k6+ ( 2n)2 2 1kW k6

Also it is easy to say that, the torsion of second order involute 2 is

2 = detf 20; 200; 2000g k 20^ 2002 ; 2 = 4n2 2n kW k3 0 1kW k (kW k6+ 4n2) :

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O N T H E SEC O N D O R D ER IN VO LU T E C U RV ES IN E 337

Theorem 4. Let unit Darboux vector …eld of involute 1 be C1. This vector is

expressed in terms of Frenet apparatus of the curve C1 =

1 q

'02+ ( sec ')2

tan 'T + '0N + B (1.9)

Proof. The vector C1 is the direction of the Darboux vector W1 of the involute

curve 1 we can write

C1 = sin '1T1+ cos '1B1; (1.10) where cos '1= 1 p 2 1+ 2 1 ; sin '1 = 1 p 2 1+ 2 1 : (1.11)

Substituting the equation (0.9) into equation (1.11), we can write cos '1 = q '0

'02+ ( sec ')2

; sin '1 =q sec ' '02+ ( sec ')2

: (1.12)

Substituting the equation (1.12) and (0.8) into equation (1.10), proof is complete.

Theorem 5. Let unit Darboux vector …eld of second order involute curve 2 be C2.

This vector is expressed in terms of Frenet apparatus curve C2 =p 1 + 2 ( cos ' + sin ')T + sec '2 '0jc sjN + ( sin ' + cos ')B ; (1.13) where = ' 0 p '02+ kW k2 0p'02+ kW k2 kW k and = '0 p '02+ kW k2 0 cos '(c s).

Proof. The vector C2is the direction of the Darboux vector W2 of the second order

involute curve 2 Hence we have

C2 = 2 q 2 2+ 22 T2+ 2 q 2 2+ 22 B2; (1.14)

Substituting the equation (1.4) and (1.7) into equation (1.14), we can write C2 =p

1 + 2 ( cos ' + sin ')T +

sec '2

'0jc sjN + ( sin ' + cos ')B ;

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Corollary 1. The Frenet vector …elds of the involute curve 1, can be written as

the principal normal vector …eld on the curve T1 = N; N1 =

N0

kN0k; B1= T1^ N1: (1.15)

Corollary 2. The Frenet vectors of the second order involute 2 are expressed

based on the Frenet apparatus of the curve are 8 > > > > > > > > > > > < > > > > > > > > > > > : T2= cos 'T + sin 'B N2 = '0sin ' q '02+ ( sec ')2 T q sec ' '02+ ( sec ')2 N +q '0cos ' '02+ ( sec ')2 B B2 = tan ' q '02+ ( sec ')2 T +q '0 '02+ ( sec ')2 N +q '02+ ( sec ')2 B (1.16) Corollary 3. The Frenet vector …elds of the involute curve 2, can be written as

the principal normal vector …eld on the curve

T2 = N0 kN0k; N2 = N0 kN0k 0 N0 kN0k 0 ; B2= T2^ N2: (1.17)

Corollary 4. The …rst and the second curvatures of the second order involute 2

of expression according to are 8 > > > > > > > < > > > > > > > : 2 = q '02+ ( sec ')2 1 sec ' ; 1= c1 Z ds 2 = 1sec ' '0 sec ' 0 sec ' q '02+ ( sec ')2 !2 (1.18)

Example. Let us consider the curve, 1 and 2, respectively

(s) = s sin(s); s cos(s); s2 ;

1(s) = 2 sin(s) + 2s cos(s) s

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O N T H E SEC O N D O R D ER IN VO LU T E C U RV ES IN E 339

2(s) = 4 cos(s) + 11s

2cos(s) 16s cos(s) 2s sin(s) 6s3sin(s) + 9s2sin(s)

2s3cos(s) + s4sin(s) + 2 sin(s); 4 sin(s) 11s2sin(s) + 16s sin(s) 2s cos(s) 6s3cos(s) + 9s2cos(s) + 2s3sin(s) + s4cos(s) + 2 cos(s); 4 14s 2s3+ 11s2

where c = 2. In terms of de…nitions, Figure 3 follows

Figure 3. , 1 and 2- curves

References

[1] Bilici M. and Çal¬¸skan, M., Some characterizations for the pair of involute-evolute curves is Euclidian E3, Bulletin of Pure and Applied Sciences,(2002), 21E(2), 289-294, .

[2] Gray, A. Modern Di¤ erential Geometry of Curves and Surfaces with Mathematica, 2nd ed. Boca Raton, FL: CRC Press, 205, 1997.

[3] Hac¬saliho¼glu H.H., Di¤ erential Geometry(in Turkish), Academic Press Inc. Ankara, 1994. [4] Fenchel, W., On The Di¤ erential Geometry of Closed Space Curves, Bull. Amer. Math. Soc.,

(1951), 57, 44-54.

[5] Lipschutz M.M., Di¤ erential Geometry, Schaum’s Outlines, 1969.

Current address : ¸Seyda K¬l¬ço¼glu:Faculty of Education, Department of Mathematics, Ba¸skent University, Ankara TURKEY

E-mail address : seyda@baskent.edu.tr

Current address : Süleyman ¸SENYURT:Faculty of Arts and Sciences, Department of Mathe-matics, Ordu University, Ordu.TURKEY

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