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Catenary
This article is about the mathematical curve. For other uses, see Catenary (disambiguation).
"Chainette" redirects here. For the wine grape also known as Chainette, see Cinsaut.
In physics and geometry, a catenary[p] is the curve that an idealized
hanging chain or cable assumes under its own weight when supported
only at its ends. The curve has a U-like shape, superficially similar in
appearance to a parabola, but it is not a parabola: it is a (scaled,
rotated) graph of the hyperbolic cosine. The curve appears in the
design of certain types of arches and as a cross section of the
catenoidthe shape assumed by a soap film bounded by two parallel
circular rings.
The catenary is also called the "alysoid", "chainette",[1] or, particularly
in the material sciences, "funicular".[2]
Catenary
History
The word catenary is derived from the Latin word
catena, which means "chain". The English word
catenary is usually attributed to Thomas Jefferson, who
wrote in a letter to Thomas Paine on the construction of
an arch for a bridge:
I have lately received from Italy a treatise on the
equilibrium of arches, by the Abb Mascheroni.
It appears to be a very scientifical work. I have
not yet had time to engage in it; but I find that the
conclusions of his demonstrations are, that every
part of the catenary is in perfect equilibrium.
It is often said [3] that Galileo thought the curve of a hanging chain was parabolic. In his Two New Sciences (1638),
Galileo says that a hanging cord is an approximate parabola, and he correctly observes that this approximation
improves as the curvature gets smaller and is almost exact when the elevation is less than 45. That the curve
followed by a chain is not a parabola was proven by Joachim Jungius (15871657); this result was published
posthumously in 1669.[4]
The application of the catenary to the construction of arches is attributed to Robert Hooke, whose "true mathematical
and mechanical form" in the context of the rebuilding of St Paul's Cathedral alluded to a catenary.[5] Some much
older arches approximate catenaries, an example of which is the Arch of Taq-i Kisra in Ctesiphon.
In 1671, Hooke announced to the Royal Society that he had solved the problem of the optimal shape of an arch, and
in 1675 published an encrypted solution as a Latin anagram[6] in an appendix to his Description of Helioscopes,
where he wrote that he had found "a true mathematical and mechanical form of all manner of Arches for Building."
He did not publish the solution to this anagram[7] in his lifetime, but in 1705 his executor provided it as Ut pendet
continuum flexile, sic stabit contiguum rigidum inversum, meaning "As hangs a flexible cable so, inverted, stand the
touching pieces of an arch."
In 1691 Gottfried Leibniz, Christiaan Huygens, and Johann Bernoulli derived the equation in response to a challenge
by Jakob Bernoulli. David Gregory wrote a treatise on the catenary in 1697.
Euler proved in 1744 that the catenary is the curve which, when rotated about the x-axis, gives the surface of
minimum surface area (the catenoid) for the given bounding circles. Nicolas Fuss gave equations describing the
equilibrium of a chain under any force in 1796.[8]
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Catenary bridges
In free-hanging chains, the force exerted is uniform
with respect to length of the chain, and so the chain
follows the catenary curve. The same is true of a simple
suspension bridge or "catenary bridge," where the
roadway follows the cable.
A stressed ribbon bridge is a more sophisticated
structure with the same catenary shape.[10]
However in a suspension bridge with a suspended
roadway, the chains or cables support the weight of the
bridge, and so do not hang freely. In most cases the
roadway is flat, so when the weight of the cable is
negligible compared with the weight being supported,
the force exerted is uniform with respect to horizontal
distance, and the result is a parabola, as discussed
below (although the term "catenary" is often still used,
in an informal sense). If the cable is heavy then the
resulting curve is between a catenary and a
parabola.[11]
Catenary
Comparison of a catenary (black dotted curve) and a parabola (red solid curve) with the same span and sag.
The catenary represents the profile of a simple suspension bridge, or the cable of a suspended-deck suspension
bridge on which its deck and hangers have negligible mass compared to its cable. The parabola represents the
profile of the cable of a suspended-deck suspension bridge on which its cable and hangers have negligible
mass compared to its deck. The profile of the cable of a real suspension bridge with the same span and sag lies
between the two curves. The catenary and parabola equations are y = cosh(x) and y = (cosh(1) - 1) x2 + 1,
respectively.
Catenary
Mathematical description
Equation
The equation of a catenary in Cartesian
coordinates has the form
Differentiating gives
and eliminating
[13]
equation
being
When a parabola is rolled along a straight line, the roulette curve traced by its focus is a catenary. The envelope of
the directrix of the parabola is also a catenary.[15] The involute from the vertex, that is the roulette formed traced by a
point starting at the vertex when a line is rolled on a catenary, is the tractrix.
Another roulette, formed by rolling a line on a catenary, is another line. This implies that square wheels can roll
perfectly smoothly if the road has evenly spaced bumps in the shape of a series of inverted catenary curves. The
wheels can be any regular polygon except a triangle, but the catenary must have parameters corresponding to the
shape and dimensions of the wheels.
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Geometrical properties
Over any horizontal interval, the ratio of the area under the catenary to its length equals a, independent of the
interval selected. The catenary is the only plane curve other than a horizontal line with this property. Also, the
geometric centroid of the area under a stretch of catenary is the midpoint of the perpendicular segment connecting
the centroid of the curve itself and the x-axis.[16]
Science
A charge in a uniform electric field moves along a catenary (which tends to a parabola if the charge velocity is much
less than the speed of light c).
The surface of revolution with fixed radii at either end that has minimum surface area is a catenary revolved about
the x-axis.
Analysis
Model of chains and arches
In the mathematical model the chain (or cord, cable, rope, string, etc.) is idealized by assuming that it is so thin that it
can be regarded as a curve and that it is so flexible any force of tension exerted by the chain is parallel to the
chain.[17] The analysis of the curve for an optimal arch is similar except that the forces of tension become forces of
compression and everything is inverted. An underlying principle is that the chain may be considered a rigid body
once it has attained equilibrium.[18] Equations which define the shape of the curve and the tension of the chain at
each point may be derived by a careful inspection of the various forces acting on a segment using the fact that these
forces must be in balance if the chain is in static equilibrium.
Let the path followed by the chain be given parametrically by r = (x, y) = (x(s), y(s)) where s represents arc length
and r is the position vector. This is the natural parameterization and has the property that
and
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It is convenient to write
which is the length of chain whose weight is equal in magnitude to the tension at c.[21] Then
Then
and
and, again, by shifting the position of the y-axis, can be taken to be 0. Then
The y-axis thus chosen passes though the vertex and is called the axis of the catenary.
These results can be used to eliminate s giving
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Alternative derivation
The differential equation can be solved using a different approach.[24]
From
it follows that
and
Integrating gives,
and
As before, the x and y-axes can be shifted so and can be taken to be 0. Then
Adding and subtracting the last two equations then gives the solution
and
Determining parameters
In general the parameter a and the position of the axis and directrix are not given but must be determined from other
information. Typically, the information given is that the catenary is suspended at given points P1 and P2 and with
given length s. The equation can be determined in this case as follows:[25] Relabel if necessary so that P1 is to the left
of P2 and let h be the horizontal and v be the vertical distance from P1 to P2. Translate the axes so that the vertex of
the catenary lies on the y-axis and its height a is adjusted so the catenary satisfies the standard equation of the curve
and let the coordinates of P1 and P2 be (x1, y1) and (x2, y2) respectively. The curve passes through these points, so the
difference of height is
so
10
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This is a transcendental equation in a and must be solved numerically. It can be shown with the methods of
calculus[26] that there is at most one solution with a>0 and so there is at most one position of equilibrium.
where the limits of integration are c and r. Balancing forces as in the uniform chain produces
and
and therefore
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and so the cable follows a parabola. If the weight of the cable and supporting wires are not negligible then the
analysis is more complex.[29]
Combining gives
and by differentiation
In this case, the curve has vertical asymptotes and this limits the span to c. Other relations are
The curve was studied 1826 by Davies Gilbert and, apparently independently, by Gaspard-Gustave Coriolis in 1836.
Elastic catenary
In an elastic catenary, the chain is replaced by a spring which can stretch in response to tension. The spring is
assumed to stretch in accordance with Hooke's Law. Specifically, if p is the natural length of a section of spring, then
the length of the spring with tension T applied has length
where E is a constant equal to kp, where k is the stiffness of the spring.[31] In the catenary the value of T is variable,
but ratio remains valid at a local level, so[32]
The curve followed by an elastic spring can now be derived following a similar method as for the inelastic spring.[33]
The equations for tension of the spring are
and
from which
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where p is the natural length of the segment from c to r and 0 is the mass per unit length of the spring with no
tension and g is the acceleration of gravity. Write
so
Then
and
from which
and
are parametric equations for the curve. At the rigid limit where E is large, the shape of the curve reduces to that of a
non-elastic chain.
Other generalizations
Chain under a general force
With no assumptions have been made regarding the force G acting on the chain, the following analysis can be
made.[34]
First, let T=T(s) be the force of tension as a function of s. The chain is flexible so it can only exert a force parallel to
itself. Since tension is defined as the force that the chain exerts on itself, T must be parallel to the chain. In other
words,
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segment, the nearly opposite force T(s) at the other end, and the external force acting on the segment which is
approximately Gs. These forces must balance so
These equations can be used as the starting point in the analysis of a flexible chain acting under any external force.
In the case of the standard catenary, G = (0, g) where the chain has mass per unit length and g is the acceleration
of gravity.
Notes
[p] ^ Word "catenary" is said as either /kt..nr.i/ /'Kat-a-nr-ee/, or British /ktinri/ /ka'Teen'Ree/.
[1]
[2]
[3]
[4]
MathWorld
e.g.:
For example Lockwood, A Book of Curves, p. 124.
Lockwood p. 124
[5] "Monuments and Microscopes: Scientific Thinking on a Grand Scale in the Early Royal Society" by Lisa Jardine (http:/ / www. jstor. org/
stable/ 532102)
[6] cf. the anagram for Hooke's law, which appeared in the next paragraph.
[7] The original anagram was "abcccddeeeeefggiiiiiiiillmmmmnnnnnooprrsssttttttuuuuuuuux": the letters of the Latin phrase, alphabetized.
[8] Routh Art. 455, footnote
[9] and
[10] The Architects' Journal, Volume 207, The Architectural Press Ltd., 1998, p. 51.
[11] Lockwood p. 122
[12] (for section)
[13] MathWorld, eq. 7
[14] Routh Art. 444
[15] Yates p. 80
[16] Parker, Edward (2010), "A Property Characterizing the Catenary", Mathematics Magazine 83: 6364
[17] Routh Art. 442, p. 316
[18] Whewell p. 65
[19] Following Routh Art. 443 p. 316
[20] Routh Art. 443 p. 317
[21] Whewell p. 67
[22] Following Routh Art. 443 p/ 317
[23] Use of hyperbolic functions follows Maurer p. 107
[24] Following Lamb p. 342
[25] Following Todhunter Art. 186
[26] See Routh art. 447
[27] Following Routh Art. 450
[28] Following Routh Art. 452
[29] Ira Freeman investigated the case where the only the cable and roadway are significant, see the External links section. Routh gives the case
where only the supporting wires have significant weight as an exercise.
[30] Following Routh Art. 453
[31] Routh Art. 489
[32] Routh Art. 494
[33] Following Routh Art. 500
[34] Follows Routh Art. 455
Catenary
Bibliography
Lockwood, E.H. (1961). "Chapter 13: The Tractrix and Catenary" (http://www.archive.org/details/
bookofcurves006299mbp). A Book of Curves. Cambridge.
Salmon, George (1879). Higher Plane Curves. Hodges, Foster and Figgis. pp.287289.
Routh, Edward John (1891). "Chapter X: On Strings" (http://books.google.com/?id=3N5JAAAAMAAJ&
pg=PA315). A Treatise on Analytical Statics. University Press.
Maurer, Edward Rose (1914). "Art. 26 Catenary Cable" (http://books.google.com/?id=L98uAQAAIAAJ&
pg=PA107). Technical Mechanics. J. Wiley & Sons.
Lamb, Sir Horace (1897). "Art. 134 Transcendental Curves; Catenary, Tractrix" (http://books.google.com/
?id=eDM6AAAAMAAJ&pg=PA342). An Elementary Course of Infinitesimal Calculus. University Press.
Todhunter, Isaac (1858). "XI Flexible Strings. Inextensible, XII Flexible Strings. Extensible" (http://books.
google.com/?id=-iEuAAAAYAAJ&pg=PA199). A Treatise on Analytical Statics. Macmillan.
Whewell, William (1833). "Chapter V: The Eqilibruim of a Flexible Body" (http://books.google.com/
?id=BF8JAAAAIAAJ&pg=PA65). Analytical Statics. J. & J.J. Deighton. p.65.
Weisstein, Eric W., "Catenary" (http://mathworld.wolfram.com/Catenary.html), MathWorld.
Further reading
Swetz, Frank (1995). Learn from the Masters (http://books.google.com/?id=gqGLoh-WYrEC&pg=PA128).
MAA. pp.1289. ISBN0-88385-703-0.
Venturoli, Giuseppe (1822). "Chapter XXIII: On the Catenary" (http://books.google.com/
?id=kHhBAAAAYAAJ&pg=PA67). Elements of the Theory of Mechanics. Trans. Daniel Cresswell. J.
Nicholson & Son.
External links
O'Connor, John J.; Robertson, Edmund F., "Catenary" (http://www-history.mcs.st-andrews.ac.uk/Curves/
Catenary.html), MacTutor History of Mathematics archive, University of St Andrews.
Catenary (http://planetmath.org/encyclopedia/Catenary.html) at PlanetMath.org.
Catenary (http://www.geom.uiuc.edu/zoo/diffgeom/surfspace/catenoid/catenary.html) at The Geometry
Center
Encyclopdie des Formes Mathmatiques Remarquables
"Chanette" (http://www.mathcurve.com/courbes2d/chainette/chainette.shtml)
"Chanette lastique" (http://www.mathcurve.com/courbes2d/chainette/chainetteelastique.shtml)
"Chanette d'gale Rsistance" (http://www.mathcurve.com/courbes2d/chainettedegaleresistance/
chainettedegaleresistance.shtml)
"Courbe de la corde sauter" (http://www.mathcurve.com/courbes2d/cordeasauter/cordeasauter.shtml)
"Catenary" at Visual Dictionary of Special Plane Curves (http://xahlee.org/SpecialPlaneCurves_dir/
Catenary_dir/catenary.html)
The Catenary - Chains, Arches, and Soap Films. (http://www.maththoughts.com/blog/2013/catenary)
Hanging With Galileo (http://whistleralley.com/hanging/hanging.htm) mathematical derivation of formula
for suspended and free-hanging chains; interactive graphical demo of parabolic versus hyperbolic suspensions.
Catenary Demonstration Experiment (http://jonathan.lansey.net/pastimes/catenary/index.html) An easy
way to demonstrate the Mathematical properties of a cosh using the hanging cable effect. Devised by Jonathan
Lansey
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Catenary
Cable Sag Error Calculator (http://www.spaceagecontrol.com/calccabl.htm) Calculates the deviation from a
straight line of a catenary curve and provides derivation of the calculator and references.
Hexagonal Geodesic Domes Catenary Domes (http://hexdome.com/essays/catenary_domes/index.php), an
article about creating catenary domes
Dynamic as well as static cetenary curve equations derived (http://www.subhrajit.net/files/Projects-Work/
OilBoom_Catenary_2010/catenary.pdf) The equations governing the shape (static case) as well as dynamics
(dynamic case) of a centenary is derived. Solution to the equations discussed.
Ira Freeman "A General Form of the Suspension Bridge Catenary" Bulletin of the AMS (http://www.ams.org/
journals/bull/1925-31-08/S0002-9904-1925-04083-5/S0002-9904-1925-04083-5.pdf)
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