Smarandache Curves and Spherical Indicatrices in the Galilean

3-Space

arXiv:1501.05245v1 [math.DG] 21 Jan 2015

H.S.Abdel-Aziz and M.Khalifa Saad

Dept. of Math., Faculty of Science, Sohag Univ., 82524 Sohag, Egypt

Abstract.

In the present paper, Smarandache curves for some special curves in the three-

dimensional Galilean space G3 are investigated. Moreover, spherical indicatrices for the helix as well
as circular helix are introduced. Furthermore, some properties for these curves are given. Finally, in
the light of this study, some related examples of these curves are provided.
Keywords. Smarandache curves, Spherical indicatrices, Frenet frame, Galilean space.
MSC(2010). 53A35, 53B30.

Introduction

Discovering Galilean space-time is probably one of the major achievements of non relativistic physics.
Nowadays Galilean space is becoming increasingly popular as evidenced from the connection of the
fundamental concepts such as velocity, momentum, kinetic energy, etc. and principles as indicated
in [7]. In recent years, researchers have begun to investigate curves and surfaces in the Galilean space
and thereafter pseudo-Galilean space. A regular curve in Euclidean space whose position vector is
composed by Frenet frame vectors on another regular curve is called a Smarandache curve. Smarandache curves have been investigated by some differential geometers [1, 9]. M. Turgut and S. Yilmaz
have defined a special case of such curves and call it Smarandache T B2 curves in the space E14 [9].
They have dealed with a special Smarandache curves which is defined by the tangent and second binormal vector fields. Additionally, they have computed formulas of this kind curves. In [1], the author
has introduced some special Smarandache curves in the Euclidean space. He has studied Frenet-Serret
invariants of a special case. In this paper, we investigate Smarandache curves for the position vector of
an arbitrary curve in terms of the curvature and the torsion with respect to standard frame. Besides,
special Smarandache curves such as T N , T B and T N B according to Frenet frame in Galilean 3-space
are studied. Furthermore, we find differential geometric properties of these special curves and we
calculate curvatures (natural curvatures) of these curves. Our main result in this work is to study
Smarandache curves for some special curves in the Galilean 3-space G3 .

E-mail address: mohamed khalifa77@science.sohag.edu.eg

Preliminaries

Let us recall the basic facts about the three-dimensional Galilean geometry G3 . The geometry of
the Galilean space has been firstly explained in [11]. The curves and some special surfaces in G3 are
considered in [3]. The Galilean geometry is a real Cayley-Klein geometry with projective signature
(0, 0, +, +) according to [5]. The absolute of the Galilean geometry is an ordered triple (w, f, I )
where w is the ideal (absolute) plane (x0 = 0), f is a line in w (x0 = x1 = 0) and I is elliptic
((0 : 0 : x2 : x3 ) (0 : 0 : x3 : x2 )) involution of the points of f . In the Galilean space there
are just two types of vectors, non-isotropic x(x, y, z) (for which holds x 6= 0). Otherwise, it is called
isotropic. We do not distinguish classes of vectors among isotropic vectors in G3 . A plane of the
form x = const. in the Galilean space is called Euclidean, since its induced geometry is Euclidean.
Otherwise it is called isotropic plane. In affine coordinates, the Galilean inner product between two
vectors P = (p1 , p2 , p3 ) and Q = (q1 , q2 , q3 ) is defined by [4]:
(
p 1 q1
if p1 6= 0 q1 6= 0,
hP, QiG3 =
p2 q2 + p3 q3 if p1 = 0 q1 = 0.
And the cross product in the sense of Galilean space is given by:





0
e
e



2
3

if p1 6= 0 q1 =
6 0,

 p1 p2 p3  ;

q1 q2 q3
(P Q)G3 =



e
e
e
 1 2 3 

 p1 p2 p3  ;

if p1 = 0 q1 = 0.

 q q q 
1
2
3

(2.1)

(2.2)

The Galilean sphere of radius d and center c of the space G3 is defined by

2
SG
(c, d) = {X c G3 : hX c, X ciG3 = d2 }.

A curve (t) = (x(t), y(t), z(t)) is admissible in G3 if it has no inflection points ((t)

(t) 6= 0) . An
admissible curve in G3 is an analogue of a regular curve in Euclidean space.
For an admissible curve : I G3 , I R parameterized by the arc length s with differential
form dt = ds, given by
(s) = (s, y(s), z(s)).

(2.3)

The curvature (s) and torsion (s) of are defined by

00 q


(s) = (s) = y 00 (s)2 + z 00 (s)2 ,
00

(s) =

000

000

00

y (s)z (s) + y (s)z (s)

.
2 (s)

Note that an admissible curve has non-zero curvature.

2

(2.4)

The associated trihedron is given by

0

T(s) = (s) = (1, y (s), z (s)),

00

00

00

N(s) =

(s)
(0, y (s), z (s))
=
,
(s)
(s)

B(s) =

(0, z (s), y (s))

.
(s)

00

00

(2.5)

For derivatives of the tangent T, normal N and binormal B vector field, the following Frenet formulas
in the Galilean space hold [11]

N = 0 0

B
0

N .
B
0

(2.6)

From (2.5) and (2.6), we derive an important relation

000 (s) = 0 (s)N(s) + (s) (s)B(s).
Let us consider the following definitions:
Definition 2.1 As in the three-dimensional Euclidean space, an admissible curve in G3 , whose position vector is composed by Frenet frame vectors on another admissible curve is called a Smarandache
curve [9].
In the light of the above definition, we adapt it to admissible curves in the Galilean space as
follows:
Definition 2.2 let = (s) be an admissible curve in G3 and {T, N, B} be its moving Frenet frame.
Smarandache TN, TB and TNB curves are respectively, defined by
TN =
TB =
TNB =

T+N
,
kT + Nk
T+B
,
kT + Bk
T+N+B
.
kT + N + Bk

(2.7)

Definition 2.3 A helix is a geometric curve with non-vanishing constant curvature and nonvanishing constant torsion [10]
Definition 2.4 A family of curves with constant curvature but non-constant torsion is called Salkowski
curves and a family of curves with constant torsion but non-constant curvature is called Anti-Salkowski
curves [6].
Definition 2.5 As in Euclidean 3-space , let be an admissible curve in Galilean 3-space with Frenet
vectors T, N and B. The unit tangent vectors along the curve generate a curve T on a Galilean
3

sphere of radius 1 about the origin. The curve T is called the spherical indicatrix of T or more
commonly, T is called tangent indicatrix of the curve . If = (s) is a natural representation of
, then T (sT ) = T(s) will be a representation of T . Similarly one considers the principal normal
indicatrix N (sN ) = N(s) and binormal indicatrix B (sB ) = B(s) [8].

Smarandache curves of special curves

In this section, we consider the position vector of an arbitrary curve with curvature (s) and torsion
(s) in the Galilean space G3 which computed from the natural representation form as follows [2]
 Z Z
Z
 
Z
  
Z Z
r (s) = s,
(s) cos
(s)ds ds ds,
(s) sin
(s)ds ds ds .
(3.1)
Its moving frame is
 Z
Z
  Z
Z
 
T (s) = 1,
(s) cos
(s)ds ds ,
(s) sin
(s)ds ds ,

Z

Z

N (s) = 0, cos
(s)ds , sin
(s)ds ,

Z

Z

B(s) =
0, sin
(s)ds , cos
(s)ds .

(3.2)

Let us investigate Frenet invariants of Smarandache curves according to definition 2.2.

3.1

TN-Smarandache curve

Let r1 (s1 ) be a TN-Smarandache curve of r(s)written as

r1 (s1 ) =

1,

R

R
 !
(s) cos (s)ds ds + cos (s)ds ,
.
R

R

R
(s) sin (s)ds ds + sin (s)ds
R

By differentiating (3.3) with respect to s, we get

"
R

R
 #
0, (s) cos (s)ds (s) sin (s)ds ,
1
,
T1 =
R

R

2 + 2
(s) sin (s)ds + (s) cos (s)ds

(3.3)

(3.4)

where
ds1 p 2
= + 2.
ds

(3.5)

Also, differentiating (3.4), we obtain

1 N1 =

1
(2

+ 2 )2

(0, 1 , 2 ) ,

then, the curvature and principal normal vector field of r1 (s1 ) are respectively,
q
1
1
1 =
21 + 22 , N1 = p 2
(0, 1 , 2 ) ,
2
(2 + 2 )
1 + 22
where
4

(3.6)

(3.7)

1 =

Z

+
sin

(s)ds
Z



2 2
2
4
+ + cos
(s)ds ,

Z

(3.8)

+ +
cos

2 =

(s)ds
Z



2 2
2
4
+ + + sin
(s)ds .

(3.9)

On the other hand, the binormal vector of this curve is expressed as

B1

1
q


(2 + 2 ) 21 + 22
"
#
R

R


2 (s) cos (s)ds (s) sin (s)ds
,
R

R


1 (s) sin (s)ds + (s) cos (s)ds , 0, 0

(3.10)

it follows that
1 = 0.

3.2

(3.11)

TB-Smarandache curve

Let r2 (s2 ) be a TB-Smarandache curve given by

" R
R

R
 #
1, (s) cos (s)ds sin (s)ds ,
r2 (s2 ) =
.
R

R

R
(s) sin (s)ds + cos (s)ds
Differentiating this equation with respect to s yields

Z

Z

T2 = 0, cos
(s)ds , sin
(s)ds ,

(3.12)

(3.13)

where
ds2
= ( ) .
ds

(3.14)

Again, differentiating (3.13) gives

,
( )

Z

Z

=
0, sin
(s)ds , cos
(s)ds .

2 =
N2

(3.15)
(3.16)

From the above mentioned, one can obtain

B2 = (1, 0, 0) .

(3.17)

2 = 0.

(3.18)

From which

3.3

TNB-Smarandache curve

By definition 2.2, the TNB-Smarandache curve is given by

" R
R

R

R
 #
1, (s) cos (s)ds + cos (s)ds sin (s)ds ,
r3 (s3 ) =
.
R

R

R

R
(s) sin (s)ds + sin (s)ds + cos (s)ds
Similarly, its tangent, the principal normal and the binormal vectors are respectively,
"
R

R
 #
0, ( ) cos (s)ds (s) sin (s)ds ,
1
T3 = q
,
R

R

( ) sin (s)ds + (s) cos (s)ds
( )2 + 2

(3.19)

(3.20)

in which
ds3
=
ds

N3 =

q
( )2 + 2 ,

R

R
 !
0, 1 cos (s)ds 2 sin (s)ds ,
R

R

2 cos (s)ds + 1 sin (s)ds
p
,
21 + 22
(2 ( ) 1 )
(1, 0, 0) ,
B3 = q
p
( )2 + 2 21 + 22

(3.21)

(3.22)
(3.23)

where



2 ( ) (( ) ( ) + ) ,





2 (s) =
( )2 + 2 2 + (( ) ( ) + ) .

1 (s) =



( )2 + 2

The curvature and the torsion of this curve are respectively, given by
p
21 + 22
3 = 
2 , 3 = 0.
( )2 + 2

(3.24)

(3.25)

Theorem 3.1 Let r(s) given by (3.1) be a helix (s) in G3 ( / = m = const.)which can be written
as


 Z

 Z
 
Z
Z
1
1
(s) = s,
sin m (s)ds ds,
cos m (s)ds ds ,
m
m

(3.26)

then TN, TB and TNB-Smarandache curves of are plane curves with constant curvatures.
Proof. We prove this theorem for TN-Smarandache curve only. The straightforward computations
on give respectively, the tangent, the principal normal and the binormal vectors of as follows

 Z

 Z

1
1
T (s) = 1, sin m (s)ds , cos m (s)ds ,
m
m

 Z

 Z

N (s) = 0, cos m (s)ds , sin m (s)ds ,
6


B (s) =

 Z

 Z

0, sin m (s)ds , cos m (s)ds .

(3.27)

The TN-Smarandache curve of can be expressed as

 R

 R
 !
1
1, m
sin m (s)ds + cos m (s)ds ,
.
 R

 R

1
cos m (s)ds + sin m (s)ds
m

1 (s1 ) =

(3.28)

It has the moving Frenet frame

T1

 R

 R
 !
0, cos m (s)ds m sin m (s)ds ,
,
 R

 R

sin m (s)ds + m cos m (s)ds

1
=
1 + m2

 R

 R
 !
0, sin m (s)ds m cos m (s)ds ,
N1
,
 R

 R

cos m (s)ds m sin m (s)ds


1
, 0, 0 .
B1 =
1 + m2
From the above data, the curvature and torsion of 1 are
1
=
(1 + m2 )

1 = m, 1 = 0.

(3.29)

(3.30)

The curvature is constant and torion is vanished. The same results for TB and TNB-Smarandache
curves of are valid. Hence the proof is completed.
Remark 3.1 If r(s) is a circular helix ( = const. , = const.), then TN, TB and TNB-Smarandache
curves are also plane curves with constant curvatures.
Theorem 3.2 If r(s) is a family of Salkowski curves (s) in G3 ( = (s), = a = const.)which can
be written as

(s) =

Z Z
s, a

Z
cos


Z
  
Z Z
(s)ds ds ds, a
sin
(s)ds ds ds ,

(3.31)

then TN, TB and TNB-Smarandache curves of are plane curves with non-constant curvatures.
Proof. After some calculations on , the tangent, the principal normal and the binormal vectors of
are, respectively


 
Z
Z 
Z  Z
T (s) = 1, a
cos
(s)ds ds, a
sin
(s)ds ds ,

N (s) =

Z
0, cos


(s)ds , sin



Z
(s)ds


Z

Z

B (s) = 0, sin
(s)ds , cos
(s)ds .

(3.32)

Here, TN-Smarandache curve of is

1 (s1 ) =


R
 !
(s)ds ds + cos (s)ds ,
,


R

R
R
a sin (s)ds ds + sin (s)ds

1, a

R

cos

(3.33)

with the Frenet vectors

1

T1 = p
a2 2 (s)

N1

1
=

!
R
R
0, a cos( (s)ds) (s) sin( (s)ds),
,
R
R
a sin( (s)ds) + (s) cos( (s)ds)

!
R
R
q
0, 1 (s) sin( (s)ds) + 2 (s) cos( (s)ds),
; = 12 + 22 ,
R
R
2 (s) sin( (s)ds) + 1 (s) cos( (s)ds)
!
1
(a1 2 )
p
B1 =
, 0, 0 .

a2 2 (s)

(3.34)

From the aforementioned calculations, the curvatures of 1 (s1 ) are

1 =

(a2

2 (s))2

, 1 = 0,

(3.35)

where







1 (s) = (a ) a2 2 + 2 , 2 (s) = a 2 a2 2 .

(3.36)

As above, we can do similar calculations for TB and TNB-Smarandache curves of . In all cases, the
curvatures are non-constants (they depend on the torsion of the Salkowski curve) and the torions are
vanished. Thus, this completes the proof.
Remark 3.2 If r(s) is a family of Anti-Salkowski curves (s) in G3 ( = b = const., = (s)), which
can be written as
 Z Z

 
Z Z
(s) = s,
(s) cos(bs)ds ds,
(s) sin(bs)ds ds ,

(3.37)

then TN, TB and TNB-Smarandache curves of are also plane curves with non-constant curvatures.

Spherical indicatrices of a general helix in G3

In what follows, we investigate the spherical indicatrix of the tangent of the helix (s). By differentiating (3.26) with respect to s, we have the tangent spherical curve as follows:


Z
Z
1
1
T = T (sT ) = 1, sin(m (s)ds),
cos(m ((s)ds) .
m
m

(4.1)

The Frenet vectors of T (sT ) are



Z
Z
TT (sT ) =
0, cos(m (s)ds), sin(m (s)ds) ,


Z
Z
NT (sT ) =
0, sin(m (s)ds), cos(m (s)ds) ,
BT (sT ) = (1, 0, 0),

(4.2)

and its curvatures are given by

T (sT ) = m, T (sT ) = 0.
8

(4.3)

Theorem 4.1 Let = (s) be a helix in the Galilean space G3 with (s) 6= 0 . The curvatures of the
tangent spherical curve T (sT ) of for each sT I R satisfy the following equalities
hTT , T iG3 = 0, hNT , T iG3 =

0T
1
, hBT , T iG3 =
.
T
2T T

Proof. By assumption we have

h T , T iG3 = d2 ,

(4.4)

2 . By differentiating (4.4) with

for every sT I R and d is the radius of the Galilean sphere SG

respect to s, we have


dT dsT
,
dsT ds T


= 0,
G3

where sT is the arc length of the tangent spherical curve in G3 . So, we get
dsT
= (s) ,
ds
then
(s) hTT , T iG3 = 0,
hTT , T iG3 = 0.

(4.5)

By a new differentiation of (4.5), we find that

T hNT , T iG3 + hTT , TT iG3 = 0.
From which
hNT , T iG3 =

1
.
T

(4.6)

More differentiation of (4.6) gives

T hBT , T iG3 + hNT , TT iG3 =

T
,
2T

since
hNT , TT iG3 = 0,

dNT
= T BT ,
dsT

then
hBT , T iG3 =

T
.
T 2T

Thus, the proof is completed.

From aforementioned information, we have the following proposition.
Proposition 4.1 The Galilean spherical images of a general helix ( or circular helix) in the threedimensional Galilean space are plane curves with constant curvatures.
Proposition 4.2 We can also do in similar way the calculations for the other spherical images of
TN, TB and TNB-Smarandache curves, we find that they are plane curves with non-constant
curvatures.
9

Examples

Example 5.1 Let (s) be a general helix in three-dimensional Galiliean space with = =

,
2 s

parameterized by





(s) = s, 2 sin s s cos s , 2 cos s + s sin s
The TN- Smarandache curve of (s) is given by









s + cos s , cos s + sin s .

1 (s1 ) = 1, sin
Then, the Frenet vectors are

cos ( s) sin ( s) cos ( s) + sin ( s)

T1 (s1 ) = 0,
,
,
2
2


(cos ( s) + sin ( s)) cos ( s) sin ( s)

N1 (s1 ) = 0,
,
,
2
2






B1 (s1 ) = cos2
s + sin2
s , 0, 0 .
The derivatives of these vectors give
1
1 (s1 ) = , 1 (s1 ) = 0.
2
The TB and TNB-Smarandache curves of (s) can be calculated as above.
The tangent spherical image of (s) is defined by

T = 1, sin s, cos s .
From which, one can obtain
TT
NT
BT

0, cos s, sin s ,

= 0, sin s, cos s ,



2

2
=
sin s + cos s , 0, 0 .

It follows that
T = 1, T = 0.
In an analogous way, one can obtain the normal and binormal spherical images of and their curvatures. The general helix (s) and its T N -Smarandache curve and tangent spherical image are shown
in Figures 1,2,3.

10

Figure 1: The general helix (s).

Figure 2: The T N -Smarandache curve of (s).

Figure 3: The tangent spherical image of (s).

Example 5.2 Consider a circular helix (s) in G3 with non-zero constant curvature and torsion, which
is given by
(s) = (s, cos s, sin s) ,
the representation of its tangent spherical curve is
T = (1, sin s, cos s) .
11

Then, simple calculations lead to

TT

= (0, cos s, sin s) ,

NT

= (0, sins, coss) ,



=
(sins)2 + (coss)2 , 0, 0 .

BT

By the aid of the derivatives of the above formulas, we obtain the curvatures of T
T = 1, T = 0.
The curve and its tangent spherical image are shown in Figures 4,5.

Figure 4: A circular helix (s).

Figure 5: The tangent spherical image of (s).

Conclusion

In the three-dimensional Galilean space, Smarandache curves of some special curves such as helix,
circular helix, Salkowski and Ant-Salkowski curves are studied. Furthermore, the spherical images of
the helix are given. Some interesting results are presented. Finally as an application for this work,
some examples are given and plotted.

12

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