16 Chapter 1. <strong>Curves</strong>Figure 2.2Conversely, if τ/κ is constant, set τ/κ = cot θ for some angle θ ∈ (0,π). Set A(s) =cos θT(s)+s<strong>in</strong> θB(s). Then A ′ (s) =(κ cos θ − τ s<strong>in</strong> θ)N(s) =0, soA(s) isaconstant unit vector A, <strong>and</strong>T(s) · A = cos θ is constant, as desired. □Example 5. In Example 3 we saw a curve α with κ = τ, sofrom the proof of Proposition 2.5 wesee that the curve should make a constant angle θ = π/4 with the vector A = 1 √2(T+B) =(0, 0, 1)(as should have been obvious from the formula for T alone). We verify this <strong>in</strong> Figure 2.3 by draw<strong>in</strong>gα along with the vertical cyl<strong>in</strong>der built on the projection of α onto the xy-plane. ▽Figure 2.3
§2. Local Theory: Frenet Frame 17The Frenet formulas actually characterize the local picture of a space curve.Proposition 2.6 (Local canonical form). Let α beasmooth (C 3 or better) arclength-parametrizedcurve. If α(0) = 0, then for s near 0, wehave() ( )α(s) = s − κ2 0κ06 s3 + ... T(0) +2 s2 + κ′ (0κ0 τ)06 s3 + ... N(0) +6 s3 + ... B(0).(Here κ 0 , τ 0 , <strong>and</strong> κ ′ 0 denote, respectively, the values of κ, τ, <strong>and</strong> κ′ at 0, <strong>and</strong> lims→0.../s 3 =0.)Proof. Us<strong>in</strong>g Taylor’s Theorem, we writeα(s) =α(0) + sα ′ (0) + 1 2 s2 α ′′ (0) + 1 6 s3 α ′′′ (0) + ...,where lims→0.../s 3 =0. Now,α(0) = 0, α ′ (0) = T(0), <strong>and</strong> α ′′ (0) = T ′ (0) = κ 0 N(0). Differentiat<strong>in</strong>gaga<strong>in</strong>, we have α ′′′ (0) = (κN) ′ (0) = κ ′ 0 N(0) + κ 0(−κ 0 T(0) + τ 0 B(0)). Substitut<strong>in</strong>g, we obta<strong>in</strong>as required.α(s) =sT(0) + 1 2 s2 κ 0 N(0) + 1 ( 6 s3 −κ 2 0T(0) + κ ′ 0N(0) + κ 0 τ 0 B(0) ) + ...() ( )= s − κ2 0κ06 s3 + ... T(0) +2 s2 + κ′ (0κ0 τ)06 s3 + ... N(0) +6 s3 + ... B(0),□We now <strong>in</strong>troduce three fundamental planes at P = α(0):(i) the osculat<strong>in</strong>g plane, spanned by T(0) <strong>and</strong> N(0),(ii) the rectify<strong>in</strong>g plane, spanned by T(0) <strong>and</strong> B(0), <strong>and</strong>(iii) the normal plane, spanned by N(0) <strong>and</strong> B(0).We see that, locally, the projections of α <strong>in</strong>to these respective planes look like(i) (u, (κ 0 /2)u 2 + ...)(ii) (u, (κ 0 τ 0 /6)u 3 + ...), <strong>and</strong>(iii) (u 2 ,( √2τ03 √ κ 0)u 3 + ...),where limu→0.../u 3 =0.Thus, the projections of α <strong>in</strong>to these planes look locally as shown <strong>in</strong> Figure2.4. The osculat<strong>in</strong>g (“kiss<strong>in</strong>g”) plane is the plane that comes closest to conta<strong>in</strong><strong>in</strong>g α near P (seeNBBTTNosculat<strong>in</strong>g plane rectify<strong>in</strong>g plane normal planeFigure 2.4