The basic core of differential geometry entails the application of differential calculus to what we call parametric curves, e.g. y= x(t). Consider the curve in 3-space (x,y,z) below:
Fig.1
Here the position of P becomes a function if the arc length as s traverses from P 0 to P on the curve. Then the vector:
R = i x + j y + k z
is also a function of s. Of particular interest will be the derivative:
dR/ ds = i(dx/ds) + j(dy/ds) + k(dz/ds)
By taking the limit: dR/ ds =
It can be shown one obtains a unit vector tangent to the curve at P, say, and pointing in the direction in which arc length s increases along the curve. One thereby arrives at the vector T: T = dR/ ds
But we first must become familiar with the basic laws of vector calculus as they apply to Euclidean space. Thus, consider the scalar product of two vectors A and B (as seen in Ch. 2) also called the dot product because of the symbol used to denote it. Thus, in general if A, B are two arbitrary vectors where Θ denotes the angle between A and B as shown below:
Fig. 2
Hence we can write: A ·B = |A| |B| cos Θ,
Or in the transformed system (Fig. 2):
A ·B = A1 B1 = |A| |B| cos Θ,
Thereby we see that two non-null vectors are orthogonal to each other (i.e. at 90 degrees) if and only if their scalar product vanishes. This means we have:
cos(Θ) = (A ·B)/ |A| |B| = 0
Meanwhile the vector product of two vectors, i.e. V = A x B is defined by:
V= A x B =
[ e 1 e 2 e3 ]
[ a 1 a 2 a3]
[ b 1 b 2 b 3]
Where e i denotes
a unit vector having the positive direction of the ith coordinate axis of the Cartesian coordinate system in spaceR3.
This
is a prelude to getting a handle on right-handed and left -handed orthogonal
systems of coordinates, which we also need to proceed further. Such a
right-handed system (in 3 dimensions) is shown below;
Fig. 3
With orthogonal parallel coordinates (x1 ,
x2 , x3) correspond to points:
(1,0,0), (0,1,0) and (0, 0, 1), respectively, so each have the distance
'1' from the origin. In general, a coordinate system is called
right-handed if the axes assume the same sort of orientation as the thumb,
index finger and middle finger of the right hand.
A system is said to be left-handed
if the axes assume the same sort of orientation - in their natural
configuration - as the thumb, index finger and middle finger of the left
hand. In this case we will have the reference
frame orientation (note axes directions!):
Fig. 4
The
use of the notation (x1 , x2 , x3) for
the orthogonal coordinates is more convenient than the familiar (x, y, z)
since it enables the use of the more compact form x i for
the coordinates of a point). Then any other similar
Cartesian coordinate system e.g. (x'1 , x'2 , x'3)
will be related to the given one by a particular linear transformation of the
form:
x' i =å 3 b =1 a ik x k +
b i
Whose coefficients satisfy the conditions:
1) å 3 b =1 a ik
a il = d kl =
{0 for k ≠
1
{1
for k = 1
2) d ik = a ik =
(1….0…..0)
(0….1…..0)
(0….0… ..1)
Where d ik is the Kronecker delta
The transition from
one Cartesian coordinate system to another can always be done by an appropriate
rigid motion of the axis of the original system. Usually this entails a
suitable translation and a suitable rotation. Any rigid motion which carries a
Cartesian coordinate system into another Cartesian system is called a direct
congruent transformation.
From
the preceding we can also write:
A
= a ik =
[ a 11 a 12 a13]
[ a 121 a 22 a23]
[ a 31
a 32 a33]
Which is a quadratic matrix. In general, we note
that a system of m · n quantities arranged in a rectangular array of m
horizontal rows and n vertical columns is called a matrix, and
the quantities are the elements of the matrix. If
m equals n the matrix is called 'square' and the number n is
the order of the matrix. Thus, the coefficients a ik for the preceding linear
transformation equation form a quadratic matrix. The corresponding
determinant is then:
det
(A) = det (a ik )
If
in particular A equals the Kronecker delta (unit matrix) then the new
Cartesian coordinate system is given by:
x'i =
x i +
b i
i= 1, 2, 3.....
Which
is a translation of the coordinate system. If, however,
b i =
0 then we
find:
x'i =
x i
And the transformed coordinates are the same as the original
ones. Such a special transformation is called the identical
transformation. If b i = 0 and the
coordinates a ik are arbitrary, but such
that the two conditions (1) and (2) are satisfied, then:
x' i = å 3 b =1 a ik x k +
b i
Corresponds
to a rotation of the coordinate system with the origin (0,0,0 ) as
center. Such a rotation is called a direct orthogonal transformation.
Finally,
note that a transformation of the form:
x' i =å 3 k =1 a ik x k , å 3 i =1 a ik a il = d kl ,
det (a ik )
= -1
Can be geometrically interpreted as a motion composed of a
rotation about the origin and a reflection in the plane. This type of
transformation is called an opposite orthogonal transformation because it
transforms a right-handed coordinate system into a left-handed one and vice
versa.
Suggested Problems:
1) Consider
two vectors A, B spanning a subspace of
R 4 where: A = (1, 2, 1, 0) and B = (1, 2, 3,
1)
Find: A/ ‖A ‖ and: B/ ‖A‖
2) Given x'i =
x i +
b i
And: x i =
(2….1…..0)
(3….-5.….6)
(-7….0… .4)
Find
the new coordinates x'i if :
b i =
(1….2…..1)
(2….1.….3)
(3….2… .1)
Write out the matrix elements
for a ik .