Surfaces

Radu MICULESCU

Transilvania University of Braşov

January 2021

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 Surfaces

A surface can be described in two ways:

Parametric description

Im r

where r : D = D R2 ! R3 is given by

r (u, v ) = (x (u, v ), y (u, v ), z (u, v )),

for every (u, v ) 2 D is such that:

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i) it is one-to-one;

ii) r and r 1 : r (D ) R3 ! R2 are di¤erentiable;

iii)
∂x ∂y ∂z
rank ( ∂u
∂x
∂u
∂y
∂u
∂z ) = 2,
∂v ∂v ∂v
i.e.
ru rv 6= 0,
for every (u, v ) 2 D, where

∂x ∂y ∂z ∂x ∂y ∂z
ru = ( , , ) and rv = ( , , ).
∂u ∂u ∂u ∂v ∂v ∂v

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 Example

r : R2 ! R3 given by
r (u, v ) = (u, v , uv ),
for every u, v 2 R.
Note that
x (u, v ) = u, y (u, v ) = v and z (u, v ) = uv ,
so r is di¤erentiable.
Moreover r is one-to-one and r 1 : r (D ) R3 ! R2 , which is given by
1
r (x, y , z ) = (x, y ),

for every x, y , z = xy 2 R, is di¤erentiable.

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In addition
∂x ∂y ∂z
ru = ( , , ) = (1, 0, v )
∂u ∂u ∂u
and
∂x ∂y ∂z
rv = ( , , ) = (0, 1, u )
∂v ∂v ∂v
so
i j k
ru rv = " 1 0 v "= vi uj + k 6= 0,
0 1 u
for every u, v 2 R.
We have
Im r = f(x, y , x ) 2 R3 j xy z = 0g.

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Implicit description

f(x, y , z ) 2 R3 j f (x, y , z ) = 0 and

∂f ∂f ∂f
( (x, y , z ), (x, y , z ), (x, y , z )) 6= 0g
∂x ∂y ∂z

where f : D = D R3 ! R is di¤erentiable.

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 The sphere

f(x, y , z ) 2 R3 j (x a )2 + (y b )2 + (z c )2 = r 2 g,
where r > 0, a, b, c 2 R.

A bunch of quadrics having the property that they do not contain any
symmetry center and which consequently are surfaces are presented at the
end of this lecture.

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 Tangent plane and normal line

Parametrized Surfeaces

Let us consider the surface Σ = Im r , where r : D = D R2 ! R3 is

given by
r (u, v ) = (x (u, v ), y (u, v ), z (u, v )),
for every (u, v ) 2 D.

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The tangent plane to Σ at P0 = r (u0 , v0 ) is the plane determined by P0 ,
ru (u0 , v0 ) and rv (u0 , v0 ).

It has the equation

x x (u0 , v0 ) y y (u0 , v0 ) z z (u0 , v0 )

∂x ∂y ∂z
∂u (u0 , v0 ) ∂u (u0 , v0 ) ∂u (u0 , v0 ) = 0.
∂x ∂y ∂z
∂v (u0 , v0 ) ∂v (u0 , v0 ) ∂v (u0 , v0 )

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The normal line to Σ at P0 is the line passing through P0 which is
perpendicular to the tangent plane to Σ at P0 .

It has the equation

x x (u0 , v0 ) y y (u0 , v0 ) z z (u0 , v0 )

= = ,
N1 (u0 , v0 ) N2 (u0 , v0 ) N3 (u0 , v0 )

where

ru (u0 , v0 ) rv (u0 , v0 ) = N1 (u0 , v0 )i + N2 (u0 , v0 )j + N3 (u0 , v0 )k,

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so
∂y ∂z
N1 (u0 , v0 ) = ∂u (u0 , v0 ) ∂u (u0 , v0 ) ,
∂y ∂z
∂v (u0 , v0 ) ∂v (u0 , v0 )
∂x ∂z
N2 (u0 , v0 ) = ∂u (u0 , v0 ) ∂u (u0 , v0 )
∂x ∂z
∂v (u0 , v0 ) ∂v (u0 , v0 )
and
∂x ∂y
N3 (u0 , v0 ) = ∂u (u0 , v0 ) ∂u (u0 , v0 ) .
∂x ∂y
∂v (u0 , v0 ) ∂v (u0 , v0 )

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 Example

Write the equations of the tangent plane and of the normal line to the
surface Σ at the point P0 = r ( π4 , π4 ), where Σ is given by Im r ,
r : (0, π ) (0, π ) R2 ! R3 being described by

r (u, v ) = (cos u sin v , sin u sin v , cos v ),

for every (u, v ) 2 (0, π ) (0, π ).

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We have p
π π 1 1 2
P0 = r ( , ) = ( , , ),
4 4 2 2 2
∂x ∂y ∂z
ru = ( , , ) = ( sin u sin v , cos u sin v , 0)
∂u ∂u ∂u
and
∂x ∂y ∂z
rv = ( , , ) = (cos u cos v , sin u cos v , sin v ),
∂v ∂v ∂v
for every (u, v ) 2 (0, π ) (0, π ).

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So
π π 1 1
ru ( , ) = ( , , 0),
4 4 2 2
p
π π 1 1 2
rv ( , ) = ( , , )
4 4 2 2 2
and
i j k p p
π π π π 1 2 2 1
ru ( , ) rv ( , ) = " 1 1 0
p "= i j k,
4 4 4 4 4 4 4 2
1 1 2

for every u, v 2 R.

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The tangent plane to Σ at P0 has the equation
p p p
2 1 2 1 1 2
(x ) (y )+( )(z ) = 0.
4 2 4 2 2 2

The normal line to Σ at P0 has the equation

p
1 1 2
x y z
p2 = p2 = 2
.
2 2 1
4 4 2

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 Homework

Write the equations of the tangent plane and of the normal line to the
surface Σ at the point P0 = r (2, 0), where Σ is given by Im r ,
r : R (R r f0g) R2 ! R3 being described by

r (u, v ) = (ue v , ue v
, 4uv ),

for every (u, v ) 2 R (R r f0g).

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Implicitly Defined curves

Let us consider

Σ = f(x, y , z ) 2 R3 j f (x, y , z ) = 0 and

∂f ∂f ∂f
( (x, y , z ), (x, y , z ), (x, y , z )) 6= 0g
∂x ∂y ∂z

where f : D = D R3 ! R is di¤erentiable.

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The normal line to Σ at P0 (x0 , y0 , z0 ) 2 Σ has the equation
x x0 y y0 z z0
∂f
= ∂f
= ∂f
.
∂x (x0 , y0 , z0 ) ∂y (x0 , y0 , z0 ) ∂z ( x0 , y 0 , z0 )

The tangent plane to Σ at P0 (x0 , y0 , z0 ) 2 Σ has the equation

∂f ∂f ∂f
(x0 , y0 , z0 )(x x0 ) + (x0 , y0 , z0 )(y y0 ) + (x0 , y0 , z0 )(z z0 ) = 0.
∂x ∂y ∂z

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 Example

Find the equations of the normal line and of the tangent plane to the
surface Σ given by

Σ = f(x, y , z ) 2 R3 j xyz = 1g

at the point (1, 1, 1).

Let us consider f : R3 ! R given by

f (x, y , z ) = xyz 1,

for every (x, y , z ) 2 R3 .

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We have

∂f ∂f ∂f
( (x, y , z ), (x, y , z ), (x, y , z )) = (yz, xz, xy )
∂x ∂y ∂z
so
∂f ∂f ∂f
( (1, 1, 1), (1, 1, 1), (1, 1, 1)) = (1, 1, 1).
∂x ∂y ∂z

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Hence the normal line to Σ at (1, 1, 1) has the equation
x 1 y 1 z 1
= = ,
1 1 1
i.e.
x =y =z
and the tangent plane to Σ at (1, 1, 1) has the equation

1 (x 1) + 1 (y 1) + 1 (z 1) = 0,
i.e.
x +y +z 3 = 0.

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 Homework

Find the equations of the normal line and of the tangent plane to the
surface Σ given by

Σ = f(x, y , z ) 2 R3 j x 3 + y 3 = z g

at the point (1, 2, 9).

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 The …rst fundamental form of a surface

Let us consider the surface Σ = Im r , where r : D = D R2 ! R3 is

given by
r (u, v ) = (x (u, v ), y (u, v ), z (u, v )),
for every (u, v ) 2 D.
The function g : Σ ! M2 (R) given by

< ru (u, v ), ru (u, v ) > < ru (u, v ), rv (u, v ) >

g (r (u, v )) = ( ),
< ru (u, v ), rv (u, v ) > < rv (u, v ), rv (u, v ) >

for every (u, v ) 2 D, is called the …rst fundamental form of Σ.

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We will use the following notations:
-
not
r (u, v ) = P
-
not
< ru (u, v ), ru (u, v ) > = E
-
not
< rv (u, v ), rv (u, v ) > = G
-
not
< ru (u, v ), rv (u, v ) > = F
-
not E F
gp = ( ).
F G

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Note that, since

det gp = kru (u, v ) rv (u, v )k > 0,

the matrix gp is invertible and

1 1 G F
gp = ( ).
EG F2 F E

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 Example

Compute the …rst fundamental form for the surface Σ = Im r , where

r : (0, ∞) (0, 2π ) ! R3 is given by

r (u, v ) = (u cos v , u sin v , u + v ),

for every (u, v ) 2 (0, ∞) (0, 2π ).

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We have
ru (u, v ) = (cos v , sin v , 1)
and
rv (u, v ) = ( u sin v , u cos v , 1),
so
E =< ru (u, v ), ru (u, v ) >= 2,
F =< ru (u, v ), rv (u, v ) >= 1
and
G =< rv (u, v ), rv (u, v ) >= u 2 + 1.

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Hence
2 1
gp = ( 2 )
1 u +1
and
1 1 u2 + 1 1
gp = ( ).
2u 2 + 1 1 2

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 The area of a surface

Let us consider the surface Σ = Im r , where r : D = D R2 ! R3 is

given by
r (u, v ) = (x (u, v ), y (u, v ), z (u, v )),
for every (u, v ) 2 D.

The area of Σ is given by the formula

ZZ p ZZ p
A(Σ) = det g = EG F 2 dudv .
D D

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 Example

Let us consider the surface Σ = Im r , where r : ( π π

2, 2) (0, 2π ) ! R3
is given by

r (u, v ) = (R cos u cos v , R cos u sin v , R sin u ),

π π
for every (u, v ) 2 [ 2, 2] [0, 2π ] and R > 0 is …xed.

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We have

ru (u, v ) = ( R sin u cos v , R sin u sin v , R cos u )

and
rv (u, v ) = ( R cos u sin v , R cos u cos v , 0),
so
E =< ru (u, v ), ru (u, v ) >= R 2 ,
F =< ru (u, v ), rv (u, v ) >= 0
and
G =< rv (u, v ), rv (u, v ) >= R 2 cos2 u.

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Hence
R2 0
gp = ( ),
0 R 2 cos2 u
so
ZZ p ZZ p
A(Σ) = det g = EG F 2 dudv =
π π π π
( 2,2) (0,2π ) ( 2,2) (0,2π )
ZZ
= R 2 cos ududv = 4πR 2 .
π π
( 2,2) (0,2π )

We conclude that the area of a sphere of radius R is 4πR 2 .

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 Homework

Compute the area of the surface Σ = Im r , where

r : (0, 2π ) (0, 2π ) ! R3 is given by

r (u, v ) = ((R + ρ cos u ) cos v , (R + ρ cos u ) sin v , ρ sin u ),

for every (u, v ) 2 (0, 2π ) (0, 2π ) and R > ρ > 0 are …xed.

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 The second fundamental form of a surface

Let us consider the surface Σ = Im r , where r : D = D R2 ! R3 is

given by
r (u, v ) = (x (u, v ), y (u, v ), z (u, v )),
for every (u, v ) 2 D.
The function b : Σ ! M2 (R) given by

< ruu (u, v ), U (u, v ) > < ruv (u, v ), U (u, v ) >
b (r (u, v )) = ( ),
< ruv (u, v ), U (u, v ) > < rvv (u, v ), U (u, v ) >

for every (u, v ) 2 D, is called the second fundamental form of Σ.

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Here
∂2 x ∂2 y ∂2 z
ruu (u, v ) = ( , , ),
∂u 2 ∂u 2 ∂u 2
∂2 x ∂2 y ∂2 z
ruu (u, v ) = ( , , ),
∂u∂v ∂u∂v ∂u∂v
∂2 x ∂2 y ∂2 z
rvv (u, v ) = ( , , )
∂v 2 ∂v 2 ∂v 2
and
def 1
U (u, v ) = ru (u, v ) rv (u, v )
kru (u, v ) rv (u, v )k
is the unit normal vector.

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We will use the notations
not
< ruu , U > = l,
not
< ruv , U > = m
and
not
< rvv , U > = n,
so the second fundamental form takes the form
l m
b=( ).
m n

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 The Weingarten map

Let us consider the surface Σ = Im r , where r : D = D R2 ! R3 is

given by
r (u, v ) = (x (u, v ), y (u, v ), z (u, v )),
for every (u, v ) 2 D.
The function L : Σ ! M2 (R) given by

L(r (u, v )) = det

for every (u, v ) 2 D, is called the Weingarten map of the surface Σ.

Note that
1 lG mF mG nF
L= ( ).
EG F2 mE lF nE mF

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 The principal curvatures

If P is a point on the surface Σ the planes containing the normal line to Σ

at P are called normal planes and their intersection with the surface are
the curves called the normal sections to Σ at P.

The curvatures of the normal sections to Σ at P are called the normal

curvatures to Σ at P.

The maximum and minimum values of the normal curvatures are called
the principal curvatures of Σ at P and are denoted by k1 (P ) and k2 (P ).

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 A very important remark

k1 (r (u, v )) and k2 (r (u, v )) are the eigenvalues of L(r (u, v )).

In other words, they are the solutions of the equation

det(L kI2 ) = 0,

i.e. of the equation

1 lG mF mG nF 1 0
det( ( ) k( )) = 0.
EG F2 mE lF nE mF 0 1

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Hence
k1 + k2 = Trace (L)
and
k1 k2 = det(L).

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 The Gauss curvature of a surface

Let us consider the surface Σ = Im r , where r : D = D R2 ! R3 is

given by
r (u, v ) = (x (u, v ), y (u, v ), z (u, v )),
for every (u, v ) 2 D.
The function K : Σ ! R given by

K (r (u, v )) = det(L(r (u, v ))) =

1 det(b (r (u, v )))

= det(g (r (u, v ))b (r (u, v ))) =
det g (r (u, v ))
for every (u, v ) 2 D, is called the Gauss curvature of Σ.
Hence
l n m2
K = = k1 k2 .
EG F 2
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 The mean curvature of a surface

Let us consider the surface Σ = Im r , where r : D = D R2 ! R3 is

given by
r (u, v ) = (x (u, v ), y (u, v ), z (u, v )),
for every (u, v ) 2 D.
The function H : Σ ! R given by
1
H (r (u, v )) = Trace (L(r (u, v ))),
2
for every (u, v ) 2 D, is called the mean curvature of Σ.
Hence
1 lG 2mF + nE k1 + k2
H= 2
= .
2 EG F 2

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 Remark

We have p
k1 = H H2 K
and p
k2 = H + H2 K.

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 The quadratic approximation of a surface

The quadric
0 1 1
Σ = f(x, y , z ) 2 R3 j z = k1 (P )x 2 + k2 (P )x 2 g
2 2
is called the quadratic approximation of the surface Σ in a neighborhood
of the point P 2 Σ.

In a su¢ ciently small neighborhood of P the surface Σ has approximately

0
the same form as the quadratic Σ is a su¢ ciently small neighborhood of
(0, 0, 0).

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 Elliptic points

If K (P ) > 0 (i.e. k1 (P ) and k2 (P ) have the same sign), then P is called

an elliptic point.
It appears on Σ as a vertex.

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 Hyperbolic points

If K (P ) < 0 (i.e. k1 (P ) and k2 (P ) have the di¤erent signs), then P is

called a hyperbolic point.
In a neighborhood of P the surface Σ looks like a saddle.

point

8 .png

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 Parabolic points

If only one of the principal curvatures k1 (P ) and k2 (P ) is 0, then P is

called a parabolic point.
In a neighborhood of P the surface Σ looks like a river bed.

point

9 .png

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 Planar points

If both of the principal curvatures k1 (P ) and k2 (P ) are 0, then P is called

a planar point.
In this case we cannot obtain information about the shape of Σ in a
neighborhood of P.

point

1 0.png

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 JUST IN CASE WE HAVE ENOUGH TIME

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 Spheres in the real world I

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 Spheres in the real world II

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 Spheres in the real world III

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 Spheres in the real world IV

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 The ellipsoid

x2 y2 z2
f(x, y , z ) 2 R3 j + + = 1g,
a2 b2 c2
where a, b, c > 0.

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 Ellipsoid in the real world I

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 Ellipsoid in the real world II

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 Ellipsoid in the real world III

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 The hyperboloid of one sheet

x2 y2 z2
f(x, y , z ) 2 R3 j + = 1g,
a2 b2 c2
where a, b, c > 0.

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 The hyperboloid of one sheet in the real world I

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 The hyperboloid of one sheet in the real world II

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 The hyperboloid of one sheet in the real world III

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 The hyperboloid of one sheet in the real world IV

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 The hyperboloid of two sheets

x2 y2 z2
f(x, y , z ) 2 R3 j + = 1g,
a2 b2 c2
where a, b, c > 0.

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 The elliptic paraboloid

x2 y2
f(x, y , z ) 2 R3 j + = z g,
a2 b2
where a, b > 0.

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 The elliptic paraboloid in the real world I

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 The elliptic paraboloid in the real world II

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 The elliptic paraboloid in the real world III

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 The elliptic paraboloid in the real world IV

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 The hyperbolic paraboloid

x2 y2
f(x, y , z ) 2 R3 j z 0 and = z g,
a2 b2
where a, b > 0.

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 The hyperbolic paraboloid in the real world I

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 The hyperbolic paraboloid in the real world II

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 The cone

x2 y2 z2
f(x, y , z ) 2 R3 j z > 0 and + = 0g,
a2 b2 c2
where a, b, c > 0.

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 The cone in the real world I

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 The cone in the real world II

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 The cone in the real world III

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 The cone in the real world IV

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 The cone in the real world V

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 The elliptic (circular) cylinder

x2 y2
f(x, y , z ) 2 R3 j + = 1g,
a2 b2
where a, b > 0.

For a = b we get a circular cylinder.

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 Circular cylinder in the real life I

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 Circular cylinder in the real life II

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 Circular cylinder in the real life III

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 Circular cylinder in the real life IV

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 Circular cylinder in the real life V

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 Circular cylinder in the real life VI

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 The hyperbolic cylinder

x2 y2
f(x, y , z ) 2 R3 j = 1g,
a2 b2
where a, b > 0.

Radu MICULESCU (Institute) Surfaces January 2021 98 / 102

Radu MICULESCU (Institute) Surfaces January 2021 99 / 102
 The parabolic cylinder

f(x, y , z ) 2 R3 j y 2 = 2px g,
where .

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Radu MICULESCU (Institute) Surfaces January 2021 101 / 102
 The parabolic cylinder in the real life

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