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The tangent, normal, and binormal unit vectors, often called T, N, and B, or collectively the Frenet–Serret frame (TNB frame or TNB basis), together form an orthonormal basis that spans, and are defined as follows: T is the unit vector tangent to the curve, pointing in the direction of motion.
In polar coordinates, the polar tangential angle is defined as the angle between the tangent line to the curve at the given point and ray from the origin to the point. [6] If ψ denotes the polar tangential angle, then ψ = φ − θ, where φ is as above and θ is, as usual, the polar angle.
In mathematics, a tangent vector is a vector that is tangent to a curve or surface at a given point. Tangent vectors are described in the differential geometry of curves in the context of curves in R n. More generally, tangent vectors are elements of a tangent space of a differentiable manifold. Tangent vectors can also be described in terms of ...
The tangent vector's magnitude ‖ ′ ‖ is the speed at the time t 0. The first Frenet vector e 1 (t) is the unit tangent vector in the same direction, defined at each regular point of γ: = ′ ‖ ′ ‖.
Developing the equation for , and grouping the terms in and , we obtain ˙ + ˙ = ¨ + ¨ = ˙ + ˙ Denoting =, the first equation means that is orthogonal to the unit tangent vector at : = The second relation means that = where = = ˙ + ˙ [¨ ¨] is the curvature vector.
Animation of the torsion and the corresponding rotation of the binormal vector. Let r be a space curve parametrized by arc length s and with the unit tangent vector T.If the curvature κ of r at a certain point is not zero then the principal normal vector and the binormal vector at that point are the unit vectors
More precisely, suppose that the point is moving on the curve at a constant speed of one unit, that is, the position of the point P(s) is a function of the parameter s, which may be thought as the time or as the arc length from a given origin. Let T(s) be a unit tangent vector of the curve at P(s), which is also the derivative of P(s) with ...
If = + is the distance from c 1 to c 2 we can normalize by =, =, = to simplify equation (1), resulting in the following system of equations: + =, + =; solve these to get two solutions (k = ±1) for the two external tangent lines: = = + = (+) Geometrically this corresponds to computing the angle formed by the tangent lines and the line of ...