APSC248 – Engineering Analysis III

Lecture 05 - on Parametric Representation of Curves in Space

𝑃
𝑟⃑(𝑡)

𝑜 𝑦

𝐶
𝑥

More generally, parametric equations are for arbitrary motion in a plane or in space. For
example, the location of a point on curve 𝐶 is a function of parameter “𝑡”.

Assume the coordinates of a point on curve 𝐶 is

𝑃: &𝑥(𝑡), 𝑦(𝑡), 𝑧(𝑡)-

Then the position vector corresponding to this point is

𝑟⃑(𝑡) = 𝑥(𝑡)𝚤̂ + 𝑦(𝑡)𝚥̂ + 𝑧(𝑡)𝑘6

This position vector, which is a vector function of parameter 𝑡, can be used to represent the curve
𝐶 in space. In general, a parametric curve is a function of one independent parameter (usually
denoted t). This way of expressing curves is practical as well as efficient; for example, one can
integrate and differentiate such curves term wise.

Straight line
𝑟⃑(𝑡) = 𝑟⃑! + 𝑡 𝑣⃑ = 〈𝑥! + 𝑡𝑣" , 𝑦! + 𝑡𝑣# , 𝑧! + 𝑡𝑣$ 〉
is a special case of curve.

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 APSC248 – Engineering Analysis III

Example 1: Find the parametric equation for curve 𝐶 that is the

𝑥 − 𝑦 + 2𝑧 = 4
intersection of two planes: "
2𝑥 + 𝑦 − 𝑧 = 2

Solution:
Curve 𝐶 (a line specifically) is the solution set of the 2 plane equations. Let 𝑧 = 𝑡 (𝑡 is arbitrary).
Using Gauss elimination, we have
5
𝑦 = −2 + 𝑡
3
1
𝑥 =2− 𝑡
3
Parametric equation for the intersected line can be expressed in 3-tuple vector form
𝑟⃑(𝑡) = 〈𝑥(𝑡), 𝑦(𝑡), 𝑧(𝑡)〉
1 5
= 〈2 − 𝑡, −2 + 𝑡, 𝑡〉
3 3
1 5
= 〈−2, −2,0〉 + 𝑡 〈− , , 1〉
3 3

Example 2: Find the parametric equation for circle 𝑥 ! + 𝑦 ! = 𝑎!

Solution: 𝑦
𝐵
𝑃
𝑎
𝑡 𝐴
𝑥

Suppose that a point 𝑃 started to move counter clock-wise (CCW) from point 𝐴 (𝑎, 0) at a
constant angular speed of 1. Then coordinates of the point 𝑃 on the circle are
𝑥(𝑡) = 𝑎 cos 𝑡
𝑦(𝑡) = 𝑎 sin 𝑡

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 APSC248 – Engineering Analysis III

We can also use “𝜃” instead of 𝑡. What’s more, one can also use the following as parametric
equation for this circle,
𝑥(𝑡) = 𝑎 cos 2𝑡
𝑦(𝑡) = 𝑎 sin 2𝑡
The difference is that the angular speed is 2 here, which is faster. One can always validate the
parametric equation by substituting them back original equation. For example,
𝑥 # + 𝑦 # = (𝑎 cos 2𝑡)# + (𝑎 sin 2𝑡 )# = 𝑎# (cos # 𝑡 + sin# 𝑡) = 1
Hence it is a valid parametric equation.

If starting location for point 𝑃 is point 𝐵 moving CCW with certain angular speed of 𝜔, then the
parametric equation is
𝜋
𝑥(𝑡) = 𝑎 cos K𝜔𝑡 + M = −𝑎 sin 𝜔𝑡
2
𝜋
𝑦(𝑡) = 𝑎 sin K𝜔𝑡 + M = 𝑎 cos 𝜔𝑡
2
Question: What would be the parametric equation if the starting point is 𝐴 and moving clock-
wise (CW) with 𝜔 = 1?
𝑥(𝑡) = 𝑎 cos 𝑡
𝑦(𝑡) = −𝑎 sin 𝑡
Similarly, if starting location for point 𝑃 is point 𝐵 moving CW with certain angular speed of 𝜔,
then the parametric equation is
𝜋
𝑥(𝑡) = 𝑎 cos K−𝜔𝑡 + M = 𝑎 sin 𝜔𝑡
2
𝜋
𝑦(𝑡) = 𝑎 sin K−𝜔𝑡 + M = 𝑎 cos 𝜔𝑡
2

Question: Can you give parametric equation for circle

(𝑥 − 𝑥! )# + (𝑦 − 𝑦! )# = 𝑎#
𝑥(𝑡) = 𝑥! + 𝑎 cos 𝑡
N
𝑦(𝑡) = 𝑦! + 𝑎 sin 𝑡
𝑟⃑(𝑡) = (𝑥! + 𝑎 cos 𝑡)𝚤̂ + (𝑦! + 𝑎 sin 𝑡)𝚥̂

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 APSC248 – Engineering Analysis III

"!
Example 3: Find the parametric equation for ellipse in canonical form #! +
$!
=1
%!

Solution:
𝑥(𝑡) = 𝑎 cos 𝑡
N
𝑦(𝑡) = 𝑏 sin 𝑡

𝑟⃑(𝑡) = 𝑎 cos 𝑡 𝚤̂ + 𝑏 sin 𝑡 𝚥̂

One can verify by substituting 𝑥(𝑡) and 𝑦(𝑡) into the ellipse equation.

Note that for a general ellipse, the equation in 2D Cartesian coordinate is

𝐴𝑥 # + 𝐵𝑥𝑦 + 𝐶𝑦 # + 𝐷𝑥 + 𝐸𝑦 + 𝐹 = 0

Example 4: Find the parametric equation for a parabola, 𝑦 = 𝑥 !

Solution:
𝑥(𝑡) = 𝑡
N
𝑦(𝑡) = 𝑡 #
𝑟⃑(𝑡) = 𝑡𝚤̂ + 𝑡 # 𝚥̂

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 APSC248 – Engineering Analysis III

Example 5: Find the parametric equation for a circular helix

Solution:
𝑟⃑(𝑡) = 𝑎 sin 𝑡 𝚤̂ + 𝑎 cos 𝑡 𝚥̂ + 𝑏𝑡𝑘6
The first two components give a circle (top view of the helix). 𝑏𝑡 gives the distance traveled
vertically. For this case, it takes 2𝜋 seconds to finish one turn. Thus the corresponding vertical
distance is 2𝜋𝑏. Here 2𝜋𝑏 is the distance between adjacent coils which is also called “pitch”.

%
Observe the difference between 𝑟⃑" (𝑡) = 5 sin 𝑡 𝚤̂ + 5 cos 𝑡 𝚥̂ + & 𝑘6 and 𝑟⃑# (𝑡) = 5 sin 2𝑡 𝚤̂ +
%
5 cos 2𝑡 𝚥̂ + & 𝑘6.

You can practice by using Maple and check out the effect of 𝑎 and 𝑏 here.

Maple:
with(plots):
spacecurve([5*sin(t), 5*cos(t), (1/5)*t, t = 0 .. 15*Pi], color = red, thickness = 3,
numpoints = 1000, title = "Parametric Helix <5sin(t), 5cos(t), t/5>");

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 APSC248 – Engineering Analysis III

Matlab:
t = linspace(0,10*pi,5000);
r = 5. ;
c = 1/5 ;
x = r*cos(t) ;
y = r*sin(t) ;
z = c*t ;
comet3(x,y,z) ;
plot3(x,y,z,'Color','m','Linewidth',1) ;
title({'Parametric Equations for Spiral';'x=rcos\theta';'y=rsin\theta';'z = c\theta'}) ;

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 APSC248 – Engineering Analysis III

Example 6: Find the parametric equation for the following curve 𝐶& and 𝐶!

𝑄(1,1,1)

𝐶#
𝑜 𝑦
𝐶"

𝑥
𝑃(1,1,0)

𝐶" is segment of line 𝑂𝑃. 𝐶# is segment of line 𝑃𝑄.

𝐶" is a straight line within 𝑥𝑦-plane and it has 𝑧 = 0, 𝑦 = 𝑥. Hence the parametric equation
could be
𝑥(𝑡) = 𝑡, 𝑦(𝑡) = 𝑡, 𝑧(𝑡) = 0, 0 ≤ 𝑡 ≤ 1
One can definitely using a different form of parametric equation for 𝐶" , such as
1
𝑥(𝑡) = 2𝑡, 𝑦(𝑡) = 2𝑡, 𝑧(𝑡) = 0, 0 ≤ 𝑡 ≤
2
But the range for parameter 𝑡 needs to be changed too.

Along 𝐶# curve, the 𝑥 and 𝑦 coordinates are not changing, only 𝑧 is changing. Then One choice
of the parametric equation is
𝑥(𝑡) = 1, 𝑦(𝑡) = 1, 𝑧(𝑡) = 𝑡, 0 ≤ 𝑡 ≤ 1

If someone assumes that direction of change is from 𝑄 to 𝑃 , then we have another set of
parametric equation for 𝐶# .
𝑥(𝑡) = 1, 𝑦(𝑡) = 1, 𝑧(𝑡) = 1 − 𝑡, 0 ≤ 𝑡 ≤ 1

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 APSC248 – Engineering Analysis III

ªExample 7: Find the parametric equation for a cycloid

Solution:
A cycloid is the curve defined by the path of a
point on the edge of circular wheel as the wheel
rolls along straight line.

𝑦
𝑃

𝜃 𝐵

𝑂 𝑥
𝐴

Define:
𝑎: radius of the circle
𝜃: angle that the wheel has rotated since initial position. Choose 𝜃 as the parameter.
𝑥-axis = Floor.
Point 𝐴 = point of the contact of wheel with the floor
Point 𝐵=center of the wheel
VVVVV⃑
𝑂𝑃 = 𝑂𝐴VVVVV⃑ + VVVVV⃑
𝐴𝐵 + 𝐵𝑃VVVVV⃑

W on the circle.,
Note, the distance that the wheel travels along 𝑥-axis equal to the arc length 𝐴𝑃
W = 𝑎𝜃. Hence,
VVVVV⃑X = 𝐴𝑃
i.e., X𝑂𝐴
VVVVV⃑
𝑂𝐴 = 〈𝑎𝜃, 0〉
Also it is obvious that
VVVVV⃑ = 〈0, 𝑎〉
𝐴𝐵

Length of VVVVV⃑ VVVVV⃑ as the direction of (– 𝑦) axis

𝐵𝑃 is 𝑎, and its direction is 𝜃 from (– 𝑦) axis (think of 𝐵𝐴
VVVVV⃑ started off from (– 𝑦) axis). Hence
and 𝐵𝑃

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𝑥 𝐵
VVVVV⃑
𝐵𝑃 = 〈−𝑎 sin 𝜃 , −𝑎 cos 𝜃〉
𝜃
𝑃
Now −𝑦

VVVVV⃑ = 〈𝑎𝜃 − 𝑎 sin 𝜃 , 𝑎 − 𝑎 cos 𝜃〉

𝑂𝑃
The Cartesian equation is
𝑦
𝑥 = 𝑎 cos '" K1 − M − [2𝑎𝑦 − 𝑦 #
𝑎

• “see Maple animation”. The idea is to plot the trajectories of points 𝐴, 𝐵 and 𝑃, whose
coordinates are
𝐴: (𝑎𝜃, 0);
𝐵: (𝑎𝜃, 𝑎);
𝑃: (𝑎𝜃 − 𝑎 sin 𝜃 , 𝑎 − 𝑎 cos 𝜃)

It is worth to point out that the brachistochrone curve is a portion of the cycloid. In
mathematics and physics, a brachistochrone curve (from ancient Greek, meaning 'shortest
time'), or curve of fastest descent, is the one lying on the plane between a point A and a lower
point B, where B is not directly below A, on which a bead slides frictionlessly under the
influence of a uniform gravitational field to a given end point in the shortest time (from wiki).
Google the experiment done by Adam Savage.

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 APSC248 – Engineering Analysis III

ªExample 8: Find the parametric equation for a circle in 3D space

𝑧 𝑃
𝑛^
𝑡
𝑟⃑(𝑡)
𝑢^
𝐶⃑
𝑜
𝑦
𝑥

The parametric equation we are looking for will describe the location of point 𝑃 on the circle.
The circle must be in a plane. Assume that we have

𝐶⃑: center of the circle;

𝑛^: unit vector perpendicular to the plane;
𝑅: radius of the circle

Define
𝑢^: unit vector from the center of circle to any point on the circumference.
𝑡: angle or a parameter representing the location of point 𝑃 relative to vector 𝑢^.

Obviously, 𝑛^ ⊥ 𝑢^. Since we are given 𝑛^ = 〈𝑛( , 𝑛) , 𝑛* 〉, we can choose 𝑢^ = 〈−𝑛* , 0, 𝑛( 〉 or any
other options such that 𝑛^ ⋅ 𝑢^ = 0.

Using vector addition, we have the parametric equation for a circle in 3D space as

𝑟⃑(𝑡) = 𝐶⃑ + 𝑅 cos 𝑡 𝑢^ + 𝑅 sin 𝑡 (𝑛^ × 𝑢^)

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 APSC248 – Engineering Analysis III

Example 9: Using Matlab to Plot a Butterfly

𝑡
𝑥(𝑡) = sin(𝑡) d𝑒 +,- % − 2 cos 4𝑡 + sin& d gg
12
𝑡
𝑦(𝑡) = cos(𝑡) d𝑒 +,- % − 2 cos 4𝑡 + sin& d gg
12

%# control animation speed

DELAY = 0.01;
numPoints = 5000;

%# create data
t = linspace(0,20*pi,numPoints);
x = sin(t).*(exp(cos(t))-2*cos(4*t)+sin(t/12).^5);
y = cos(t).*(exp(cos(t))-2*cos(4*t)+sin(t/12).^5);

%# plot graph
figure('DoubleBuffer','on') %# no flickering
%line(x,y, 'LineWidth',2), grid on
axis([-4 4 -3 4])
title({'Butterfly';'x=sin\theta(\ite^{cos\theta}-2cos{4\theta}+sin^5(\theta/12))';....
'y=cos\theta(\ite^{cos\theta}-2cos{4\theta}+sin^5(\theta/12))'}) ;

%# create moving point + coords text

hLine = line('XData',x(1), 'YData',y(1), 'Color','r', ...
'LineWidth',0.5);
hMarker = line('XData',x(1), 'YData',y(1), 'Color','r', ...
'Marker','o', 'MarkerSize',5);
% hTxt = text(x(1), y(1), sprintf('(%.3f,%.3f)',x(1),y(1)), ...

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% 'Color',[0.2 0.2 0.2], 'FontSize',8, ...

% 'HorizontalAlignment','left', 'VerticalAlignment','top');

%# infinite loop
i = 1; %# index
while true
%# update point & text
X_coord = x(1:i);
Y_coord = y(1:i);
%set(hLine, 'XData',x(i), 'YData',y(i))
set(hLine, 'XData',X_coord, 'YData',Y_coord)
set(hMarker, 'XData',x(i), 'YData',y(i))
% set(hTxt, 'Position',[x(i) y(i)], ...
% 'String',sprintf('(%.3f,%.3f)',[x(i) y(i)]))
drawnow %# force refresh
pause(DELAY) %# slow down animation

i = rem(i+1,numPoints)+1; %# circular increment

if ~ishandle(hLine), break; end %# in case you close the figure
end

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 APSC248 – Engineering Analysis III

Example 10: Using Maple to Plot Parametric Curves

Maple can also plot “space curves” (parametric curves in 3-dimensional space). To do this, we
need to load the full plots package.
with(plots): If you quit Maple and restart it, make sure to execute this instruction again.
spacecurve([t*cos(t),t*sin(t),t,t=0..8*Pi]); A type of spiral or helix.
spacecurve([t*cos(t),t*sin(t),t], t=0..8*Pi); An equivalent way of plotting the helix
spacecurve([sin(t),cos(t),sin(5*t),t=0..2*Pi],axes=normal); A 3d version of a Lissajous figure.
spacecurve({[t*sin(t), t, t*cos(t)], [4*cos(t), 4*sin(t), 0]}, t = -Pi .. 2*Pi); Plotting two curves in
one graph

To plot multiple curves in one graph, we can also try the following two methods
Method 1:
Curve1:= [t*sin(t), t, t*cos(t), t = -Pi .. 2*Pi];
Curve2:= [4*cos(t), 4*sin(t), 0, t = -Pi .. 2*Pi];
spacecurve({Curve1, Curve2})

Method 2:
Curve1:=spacecurve([t*sin(t), t, t*cos(t), t = -Pi .. 2*Pi]);
Curve2:= spacecurve([4*cos(t), 4*sin(t), 0, t = -Pi .. 2*Pi]);
display(Curve1, Curve2);

Note that “spacecurve” and “display” command require the package “plots” to be loaded. As
with all 3d plots in Maple, you may optionally specify the type of axes (place the option outside
the square brackets but inside the parentheses) or have no axes at all.

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