DIFFERENTIAL GEOMETRY a) | a 4 / q \ ' i \ y | ia , \ \This Dover edition, first published in 1991, is an unabridged repub- lication of the 1963 printing of the work first published by The Univer. sity of Toronto Press, Toronto, in 1959 as No. Ul in their series, Mathematical Expositions. Manufactured in the United States of America Dover Publications, Inc. 31 Bast 2nd Street Mineola, New York 11501 Library of Congress Cataloging-in-Publication Data Kreyszig, Erwin. Differential geometry / Erwin Kreyszig. Pp. cm. Reprint. Originally published: Toronto : University of Toronto Press, 1959. (Mathematical expositions ; no. 11) Includes bibliographical references and index. ISBN 0-486-66721-9 (pbk.) 1. Geometry, Differential. I. Title. QA641.K883 1991 516.3’6—de20 91-14321 CIPCONTENTS PREFACE Cuarter L. PRELIMINARIES L._Notation 2, Nature and purpose of differential geometry 3. Concept of mapping. Coordinates in Euclidean space 4, Veotors in Euclidean space eewrnit ~ 3 Cuarrzs Il. THEORY OF CURVES 6. The concept of a curve in differential geometry ‘2. Further remarks on the concept of a curve 8, Examples of special curves we sa 10. Tangent and normal plane 11. Oseulstis 12. Principal normal, curvature, osculating circle 13, Binormal. Moving trihedron of a curve 14, Torsion 23R8 | 16, Motion of the trihedron, vector of Darboux 17, Spherical images of a curve 46 18. Shape of a curve in the neighbourhood of any of ite points (canonical representation) aT 19. Contact, osculsting sphere 4 20. Natural equations of @ curve 55 21, Examples of curves and their natural equations 60 22, Involutes and evolutes 23. Bertrandourves ——“‘z PT OF A SURFACE. FIRST FUNDA- ONS OF TENSOR-CALCULUS 72 24, Concept of » surface in differential geometry 72 remarks on the tation of surfaces, examples 76 26. Curves on a surface, tangent plane to & surface 79 27. First fundamental form. Concept of Riemannian geometry. Summa- tioeonvention CC“; SC 28. Properties of the first fundamental form 85 29, Contravariant and covariant vectors 8B 30. Contravariant, covariant, and mixed tensors OB