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Contents
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• 1Definition
• 2Properties
• 3Alternative description
• 4Notes
• 5References
Definition[edit]
Animation of the torsion and the corresponding rotation of the binormal vector
Let C be a space curve parametrized by arc length and with the unit tangent vector t. If
the curvature of C at a certain point is not zero then the principal normal vector and
the binormal vector at that point are the unit vectors
where the prime denotes the derivative of the vector with respect to the parameter .
The torsion measures the speed of rotation of the binormal vector at the given point. It is
found from the equation
which means
Remark: The derivative of the binormal vector is perpendicular to both the binormal and
the tangent, hence it has to be proportional to the principal normal vector. The negative
sign is simply a matter of convention: it is a by-product of the historical development of
the subject.
The radius of torsion, often denoted by σ, is defined as
Properties[edit]
• A plane curve with non-vanishing curvature has zero torsion at all points.
Conversely, if the torsion of a regular curve with non-vanishing curvature is
identically zero, then this curve belongs to a fixed plane.
• The curvature and the torsion of a helix are constant. Conversely, any space
curve whose curvature and torsion are both constant and non-zero is a helix.
The torsion is positive for a right-handed[1] helix and is negative for a left-handed
one.
Alternative description[edit]
Let r = r(t) be the parametric equation of a space curve. Assume that this is a
regular parametrization and that the curvature of the curve does not vanish.
Analytically, r(t) is a three times differentiable function of t with values in R3 and the
vectors
Here the primes denote the derivatives with respect to t and the cross
denotes the cross product. For r = (x, y, z), the formula in components is
Notes