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Review Paper

Smarandache curves in the Galilean 4-space G4

M. Elzawy a,, S. Mosa b
a
b

Mathematics Department, Faculty of Science, Tanta University, Tanta, Egypt

Mathematics Department, Faculty of Science, Damanhour University, Damanhour, Egypt

a r t i c l e

i n f o

Article history:
Received 13 March 2016
Revised 14 April 2016
Accepted 24 April 2016
Available online xxx

a b s t r a c t
In this paper, we study Smarandache curves in the 4-dimensional Galilean space G4 . We obtain FrenetSerret invariants for the Smarandache curve in G4 . The rst, second and third curvature of Smarandache
curve are calculated. These values depending upon the rst, second and third curvature of the given
curve. Examples will be illustrated.

2010 MSC:
Primary 53A35
Secondary 51A05

Copyright 2016, Egyptian Mathematical Society. Production and hosting by Elsevier B.V.
This is an open access article under the CC BY-NC-ND license.
(http://creativecommons.org/licenses/by-nc-nd/4.0/)

Keywords:
Galilean 4-space
Smarandache curve
Frenent
Frame

1. Introduction
Galilean space is the space of the Galilean Relativity. For more
about Galilean space and pseudo Galilean space may be found
in [13]
The geometry of the Galilean Relativity acts like a bridge from
Euclidean geometry to special Relativity. The geometry of curves
in Euclidean space have been developed a long time ago [4]. In
recent years, mathematicians have begun to investigate curves and
surfaces in Galilean space [5].
Galilean space is one of the Cayley-Klein spaces. Smarandache
curves have been investigated by some differential geometers
such as H.S. Abdelaziz, M. Khalifa and Ahmad T. Ali [6]. In this
paper, we study Smarandache curve in 4-dimensional Galilean
space G4 and characterize such curves in terms of their curvature
functions.
2. Preliminaries
The three-dimensional Galilean space G3 , is the Cayley-Klein
space equipped with the projective metric of signature (0, 0, +, + ).
The absolute of the Galilean geometry is an ordered triple
(, f, I) where is the ideal (absolute) plane, f is a line in

Corresponding author. Tel.: +00201024378883.

E-mail addresses: mervatelzawy@science.tanta.edu.eg (M. Elzawy),
saffamosa@yahoo.com (S. Mosa).

(absolute line) and I is elliptic involution point (0, 0, x2 , x3 )

(0, 0, x3 , x2 ).
A plane is called Euclidean if it contains f , otherwise it is called
isotropic or, i.e. planes x = const. are Euclidean, and so is the plane
. A vector u = (u1 , u2 , u3 ) is said to be non-isotropic vector if
u1 = 0. all unit non-isotropic vectors are of the form u =
(1, u2 , u3 ). For isotropic vectors u1 = 0 holds.
In the Galilean space G3 there are four classes of lines [7]:
1. The (proper) isotropic lines that dont belong to the plane
but meet the absolute line f.
2. The (proper) non-isotropic lines they dont meet the absolute
line f.
3. a proper non-isotropic lines all lines of but f.
4. The absolute line f.

Let x = (x1 , x2 , x3 , x4 ) and y = (y1 , y2 , y3 , y4 ) be two vectors

in G4 . The Galilean scalar product in G4 can be written as


x , y G4 =

x1 y1
if x1 = 0 and y1 = 0
x2 y2 + x3 y3 + x4 y4
if x1 = 0 or y1 = 0

The normof the vector x = (x1 , x2 , x3 , x4 ) is dened by





x  =  x , x G4 .
G4

http://dx.doi.org/10.1016/j.joems.2016.04.008
1110-256X/Copyright 2016, Egyptian Mathematical Society. Production and hosting by Elsevier B.V. This is an open access article under the CC BY-NC-ND license.
(http://creativecommons.org/licenses/by-nc-nd/4.0/)

Please cite this article as: M. Elzawy, S. Mosa, Smarandache curves in the Galilean 4-space G4 , Journal of the Egyptian Mathematical
Society (2016), http://dx.doi.org/10.1016/j.joems.2016.04.008

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The Galilean cross product of the vectors x, y, z on G4 is dened

by

x y z




 0

x

y1

 1
z
=  1
e
 1

 x1

y1
z1

e2
x2
y2
z2
e2
x2
y2
z2

e3
x3
y3
z3
e3
x3
y3
z3

The vectors {t(s), n(s), b1 (s), b2 (s)} are mutually orthogonal

vectors

t (s ), t (s )G4 = n(s ), n(s )G4 = b1 (s ), b1 (s )G4

= b 2 ( s ), b 2 ( s )G4 = 1


e4 

x4 

y4 
z4 
e4 

x4 

y4 
z4 

if x1 = 0 or y1 = 0 or z1 = 0

and

if x1 = y1 = z1 = 0

t (s ), n(s )G4 = t (s ), b1 (s )G4 = t (s ), b2 (s )G4

= n ( s ) , b 1 ( s ) G4 = n ( s ) , b 2 ( s ) G4
= b 1 ( s ), b 2 ( s )G4 = 0

where e1 = (1, 0, 0, 0 ), e2 = (0, 1, 0, 0 ), e3 = (0, 0, 1, 0 ), and e4 =

( 0, 0, 0, 1 )
The Galilean G4 studies all properties invariant under motions
of objects in space is even more complex. In addition, it stated
this geometry can described more precisely as the study of those
properties of 4D space with coordinate which are invariant under
general Galilean transformation as follows [8].

x = (cos cos cos sin sin )x

The derivatives of the Frenet-Serret equations are dened as in

[9].

t  ( s ) = k1 ( s )n ( s )

n ( s ) = k2 ( s )b1 ( s )

b1 (s ) = k2 (s )n(s ) + k3 (s )b1 (s )

b2 (s ) = k3 (s )b1 (s )

3. tb2 Smarandache curves in G4

+ (sin cos cos cos sin )y

+ (sin sin )z + (v cos 1 )t + a

Denition 1. A curve in G4 , whose position vector is obtained

by Frenet frame vectors on another curve, is called Smarandache
curve.

y = (cos sin + cos sin cos )x

+ ( sin sin + cos cos cos )y

Let us dene special forms of Smarandache curves.

+ (sin cos )z + (v cos 2 )t + b

Denition 2. Let (s) be a unit speed curve in G4 with constant

curvatures k1 , k2 and k3 and {t(s), n(s), b1 (s), b2 (s)} be Frenet frame
on it. The tb2 Smarandache curves are dened by

z = (sin sin )x (sin cos )y

+ (cos )z + (v cos 3 )t + c

t = t + d

with cos2 1 + cos2 2 + cos2 3 = 1.

A curve : I G4 of C , I R in the Galilean G4 is dened
by (s ) = (s, y(s ), z(s ), w(s )) where the curve is parameterized
by the Galilean invariant arc-length. The rst Frenet-Serret frame ,
that is, the tangent vector of (s) in G4 , is dened by

t (s ) =  (s ) = (1, y (s ), z (s ), w (s ))

(2.1)

The second vector of the Frenet-Serret frame , that is called, the

principle normal of (s) is dened by n(s).

1
1
n (s ) =
 (s ) =
(0, y (s ), z (s ), w (s ))
k1 ( s )
k1 ( s )

b1 ( s ) =

1
0,
k2 ( s )

y (s )

k1 ( s )

z (s )

k1 ( s )

w (s )

k1 ( s )

Theorem 1. Let = (s ) be a unit speed curve with constant curvatures k1 (s), k2 (s) and k3 (s) and (s (s)) be tb2 Smarandache curve
dened by frame vectors of (s), then

t (s (s )) =
n (s (s )) =

(2.4)

where k1 (s), k2 (s) and k3 (s) are the rst, second and third curvature
functions of the curve (s) which are dened by



k1 (s ) = t  (s ) = (y (s ))2 + (z (s ))2 + (w (s ))2
G4



k2 (s ) = n (s ) = n , n G4
G
4

k3 (s ) = b1 (s ), b2 (s )G4
If the curvature k1 (s), k2 (s) and k3 (s) are constants, then the
curve (s) is called W-curve. The set {t(s), n(s), b1 (s), b2 (s), k1 (s),
k2 (s), k3 (s)} is called the Frenet-Serret pparatus of the curve .

k1 n k3 b1

k21 + k23

k2 k3 n + k1 k2 b1 k23 b2

k22 k23 + k21 k22 + k43

b1 (s (s )) =

(k1 k22 n + k3 (k22 + k23 )b1 + k1 k2 k3 b2 )

b2 (s (s )) =

(2.3)

Thus the vector b1 (s) is perpendicular to both t(s) and n(s).

The second binormal vector of (s) which is the fourth vector
of the Frenet-Serret frame is dened by b2 (s).

b2 ( s ) = t ( s ) n ( s ) b1 ( s )

(2.2)

The third vector of the Frenet-Serret frame , that is called, the

rst binormal vector of is dened by

(s (s )) = (t (s ) + b2 (s ))

k1 (s (s )) =
k2 (s (s )) =

k22 + k23

k22 k23 + k21 k22 + k43

2 2
k1 k3 k1 k2 + k43 k22 k23 t
k22 + k23 k21 + k23 k22 k23 + k21 k22 +

2 k22 k23 + k21 k22 + k43

k43 )

k21 + k23

2 k22 + k23

k21 + k23

k3 (s (s )) = 0
Proof. Let = (s (s )) be a tb2 Smarandache curve of the curve
(s). Then

= (s (s )) = (t (s ) + b2 (s ))
 ( s ) =

d (s (s ))
ds

2
d ( s )
ds

ds
ds

1
= (t  (s ) + b2 (s ))
2

1
= ( k1 n k3 b1 )
2

Please cite this article as: M. Elzawy, S. Mosa, Smarandache curves in the Galilean 4-space G4 , Journal of the Egyptian Mathematical
Society (2016), http://dx.doi.org/10.1016/j.joems.2016.04.008

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t =

k n k3 b1

1
( s ) =

where

ds
ds

( s ) =

(3.1)

k21 + k23

k21 +k23

dt

d (s (s ))

2(k1 n k3 b1 )

n ( s ) =

k21 + k23

2 k22 k23 + k21 k22 + k43

(3.2)

k21 + k23

n ( s ) =

(s )
k k n + k1 k2 b1 k23 b2

 = 2 3
 (s )
k22 k23 + k21 k22 + k43

2(k1 k22 n + k3 (k22 + k23 )b1 + k1 k2 k3 b2 )

k21 + k23

k2 (s ) = n (s )

G4

(3.3)

k22 k23 + k21 k22 + k43

(3.4)

k21 + k23

b 1 ( s ) =

n ( s )

k2 ( s )

k1 k22 n + k3
k22 + k23

+ k23 b1 + k1 k2 k3 b2
k22 k23 + k21 k22 + k43

k22

n ( s ) =

(3.5)

= ct where ct is constant

db1 (s )

(3.7)

Theorem 2. Let = (s ) be a unit speed curve in G4 with constant

curvatures k1 (s), k2 (s) and k3 (s). Then the Smarandache nb1 curves of
(s) has b2 (s ) = 0.
Proof. Let = (s (s )) be a nb1 Smarandache curve of (s). Then

k22 n

+(

k22

k2 n k2 b1 k3 b2

2k22 + k23
2
+ k3 b1 k2 k3 b2
2k22 + k23

2[k22 n + (k22 + k23 )n k2 k3 b2 ]

(4.4)

(2k22 + k23 )

k2 n + k2 b1 + k3 b2

2k22 + k23

[k22 n (k22 + k23 )b1 + k2 k3 b2 ]

(k22 + k23 ) (2k22 + k23 )

[k2 n k2 b1 k3 b2 ]

(2k22 + k23 )

= 0t + 0n + 0b1 + 0b2

(4.5)

Denition 4. Let = (s ) be a curve in Galilean space G4 and

{t(s), n(s), b1 (s), b2 (s)} be its moving Frenet frame . The tnb1 b2
Smarandache curves are dened as

(s (s )) = (t (s ) + n(s ) + b1 (s ) + b2 (s ))

(4.6)

Remark 1. The Frenet- Serret invariants of tnb1 b2 Smarandache

curves can easily obtained by the apparatus of the curve = (s ).
Remark 2. There are another types of Smarandache curves in G4
such as
tb1 , tn, nb2 , b1 b2 , tnb1 , tnb2 , tb1 b2 , nb1 b2 .

= (s ) = (s, sin s, 2 cos s, sin s )

(4.3)

Example 1. Let us consider the following curve I R G4

= (s (s )) = (n(s ) + b1 (s ))

ds

k2 ( s )

and the proof is complete.

Denition 3. Let (s) be a unit speed curve in G4 with constant

curvatures k1 (s), k2 (s), k3 (s) and {t(s), n(s), b1 (s), b2 (s)} be Frenet
frame on it. The nb1 Smarandache curves in G4 are dened by
(s (s )) = 1 (n(s ) + b1 (s ))

ds

4. nb1 Smarandache curves in G4

ds

n (s )

(3.6)

k3 (s ) = b1 (s ), b2 (s )G4 = 0

d ( s )

(4.2)

(2k22 + k23 )

2 (k22 + k23 )

b 1 ( s ) =

So we can deduce that

 ( s ) =

(4.1)

b 2 ( s ) = t ( s ) n ( s ) b 1 ( s )

(k31 k22 k3 + k1 k53 k1 k22 k33 )t

k22 + k23 k21 + k23 (k22 k23 + k21 k22 + k43 )

and the proof is complete.

[k2 n + k2 b1 + k3 b2 ]

(2k22 + k23 )

2 (k22 + k23 )
k2 (s (s )) =
(2k22 + k23 )

ds

b 2 ( s ) = t ( s ) n ( s ) b 1 ( s )

2k22 + k23

2 (k22 + k23 )[k2 n k2 b1 k3 b2 ]

ds

2k22 + k23

(s )
[k22 n (k22 + k23 )b1 + k2 k3 b2 ]

=


 (s )
(k22 + k23 ) (2k22 + k23 )

db1 (s )

Hence we can nd

From the second Frenet Serret equations we have

2 k22 + k23

n , n G4 =

k2 n + k2 b1 + k3 b2



n (s ) =

Now

n ( s ) =

ds

=
ds
k21 + k23

2(k2 k3 n + k1 k2 b1 k23 b2 )



k1 (s ) = t (s ) =

( s ) =

t =

1
= (n (s ) + b1 (s )
2

(4.7)

Differentiating (4.7) we have

1
= (k2 b1 + (k2 n + k3 b2 ))
2
1 2
=
2k2 + k23
2
d ( s )
k2 n + k2 b1 + k3 b2
=
= ( s ) =

ds
2k2 + k2
2

 (s ) = (1, cos s,

2 sin s, cos s )

(4.8)

The Galilean inner product follows that   ,  G4 = 1 . So the

curve is parameterized by arc length and the tangent vector is
(4.8). In order to calculate the rst curvature let us express

t  (s ) = (0, sin s, 2 cos s, sin s )

Taking the norm of both sides, we have k1 (s ) =

2.

Please cite this article as: M. Elzawy, S. Mosa, Smarandache curves in the Galilean 4-space G4 , Journal of the Egyptian Mathematical
Society (2016), http://dx.doi.org/10.1016/j.joems.2016.04.008

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The principal normal n(s) becomes

1
n(s ) = (0, sin s, 2 cos s, sin s )
2

(4.9)

One more differentiating of (4.9), we have

1
n (s ) = (0, cos s, 2 sin s, cos s )
2
By using n (s) we have the second curvature k2 (s ) = 1 and the
rst binormal vector

1
b1 (s ) = (0, cos s, 2 sin s, cos s )
2

(4.10)

(4.11)

We can obtain easily the third curvature of the curve k3 (s ) = 0.

The tb2 Smarandache curve of the curve (s) is the curve
(s (s))

(s (s )) =

1, cos s

1
1
, 2 sin s, cos s +
2
2

(4.16)

b 2 = ( 0 , 0 , 0 , 0 )

(4.17)

k3 = 0

(4.18)

In the same way we can obtain the nb1 Smarandache curve

and its Frenet-Serret apparatus by using (4.1),(4.2).(4.3),(4.4),(4.5)
of Theorem 2.
Acknowledgement

The second binormal vector b2 (s ) = t (s ) n(s ) b1 (s)

1
b2 (s ) = (0, 1, 0, 1 )
2

1
b1 = (0, sin s, 2 cos s, sin s )
2

By using Theorem (1) above we can obtain easily the FrenetSerret apparatus of the curve (s (s)).

1
t = (0, sin s, 2 cos s, sin s )
2

(4.12)

1
n = (0, cos s, 2 sin s, cos s )
2

(4.13)

k1 = 1

(4.14)

k2 = 1

(4.15)

The authors are grateful to the referee for his/her valuable comments and suggestions.
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Please cite this article as: M. Elzawy, S. Mosa, Smarandache curves in the Galilean 4-space G4 , Journal of the Egyptian Mathematical
Society (2016), http://dx.doi.org/10.1016/j.joems.2016.04.008