任意平面曲线的曲率计算

对任一平面曲线$a(t)=(x(t),y(t))$,其曲率$\kappa$为其相应的单位速率参数曲线的曲率
$$a^{\prime }=\frac{da}{dt}=\frac{da(s)}{ds}\frac{ds}{dt}=Tv$$,其中T为单位切向量，v为速率
$$\begin{array}{rl}{a}^{\prime \prime }& =\frac{d{a}^{\prime }}{dt}\\ & =\frac{d(Tv)}{dt}\\ & =\frac{dT}{dt}v+T\frac{dv}{dt}\\ & =\frac{dT}{ds}\frac{ds}{dt}v+T\frac{dv}{dt}\\ & =\kappa v^{2}N+T\frac{dv}{dt}\end{array}$$
$$\Rightarrow \kappa =\frac{|a^{\prime }\times a^{\prime \prime }|}{v^3}=\frac{|a^{\prime }\times a^{\prime \prime }|}{|a^{\prime }{|}^3}$$

因而对于曲线$a(t)=(x(t),y(t))$
$$a^{\prime }=(x^{\prime },y^{\prime }),a^{\prime \prime }=(x^{\prime \prime },y^{\prime \prime })$$
$$|a^{\prime }\times a^{\prime \prime }|=|x^{\prime }{y}^{\prime \prime }-x^{\prime \prime }{y}^{\prime }|$$
$$|a^{\prime }{|}^3=(x^{\prime 2}+y^{\prime 2}{)}^{3/2}$$
$$\kappa =\frac{|a^{\prime }\times a^{\prime \prime }|}{|a^{\prime }{|}^3}=\frac{|x^{\prime }{y}^{\prime \prime }-x^{\prime \prime }{y}^{\prime }|}{(x^{\prime 2}+y^{\prime 2}{)}^{3/2}}$$