1

On spacelike constant slope surfaces and Bertrand curves in Minkowski 3-space

Murat Babaarslan
a,
* Yusuf Yayli
b


a
Department of Mathematics, Bozok University, 66100, Yozgat-Turkey
b
Department of Mathematics, Ankara University, 06100, Ankara-Turkey

ABSTRACT
A spacelike surface in the Minkowski 3-space is called a constant slope surface if its position
vector makes a constant angle with the normal at each point on the surface. These surfaces were
completely classified in [J. Math. Anal. Appl. 385 (1) (2012) 208-220]. In this work, we show
that timelike Bertrand curves and spacelike Bertrand curves can be constructed from unit speed
spacelike curves on the hyperbolic plane
2
and from unit speed spacelike curves on the de
Sitter 2-space
2
1
, S respectively. Furthermore, we obtain the relations between Bertrand curves
and helices. We define the notion of de Sitter evolutes of curves on
2
and
2
1
S and demonstrate
that the Darboux indicatrices of Bertrand curves are equal to these evolutes. Also, we investigate
the relations between Bertrand curves and spacelike constant slope surfaces in
3
1
. E Moreover we
give some examples of our main results and the corresponding pictures are drawn by using
Mathematica.

Key words: Bertrand curve, helix, Darboux indicatrix, Lorentzian Sabban frame, de Sitter
evolute, spacelike constant slope surface

*Corresponding Author: E-mail: murat.babaarslan@bozok.edu.tr






2


1. Introduction
Lorentzian geometry helps to bridge the gap between modern differential geometry and
mathematical physics of general relativity by giving an invariant treatment of Lorentzian
geometry. The fact that relativity theory is expressed in terms of Lorentzian geometry is attractive
for geometers who can penetrate surprisingly into cosmology (red-shift, expanding universe and
big bang) and a topic no less interesting geometrically, the gravitation of a single star (perihelion
procession, bending of light and black holes).
Several classical, well-known geometric objects are defined in terms of making a constant
angle with a given, distinguished direction. Firstly, classical helices are curves making a constant
angle with a fixed direction. A second example is the logarithmic spiral, the spira mirabilis
studied by Jacob Bernoulli, which makes a constant angle with the radial direction.
There are a lot of interesting applications of helices (e.g., DNA double and collagen triple
helix, nano-springs, carbon nano-tubes, K-helices, helical staircases, helical structures in fractal
geometry and so on).
Another interesting and important notion is Bertrand curve. It is defined as a special curve
which shares its principal normals with another special curve (called Bertrand mate). Bertrand
mates represent particular examples of offset curves [13] which are used in computer-aided
design (CAD) and computer-aided manufacture (CAM). Furthermore, Bertrand curves may be
regarded as 1-dimensional analogue of Weingarten surfaces.
A constant angle surface in
3
E is a surface whose tangent planes make a constant angle
with a fixed vector field of ambient space. These surfaces are the generalizations of the concept
of helix. These kinds of surfaces are models to describe some phenomena in physics of interfaces
in liquid crystals and of layered fluids. Constant angle surfaces were studied for arbitrary
dimensions in Euclidean space
n
E [4, 14] and in different ambient spaces, e.g.
2
, S R
2
H R
and
3
Nil [5, 6, 7]. Moreover these surfaces were studied in Minkowski 3-space and classified in
[11].
Another nice paper in this direction is [12], where Munteanu made a review of some
applications of constant angle surfaces and gave a complete classification of the so-called
constant slope surfaces in
3
. E Such surfaces are those whose position vectors make a constant
3

angle with the normals at each point on the surfaces. Recently [2], we gave some
characterizations of constant slope surfaces and Bertrand curves in Euclidean 3-space. We found
parametrization of constant slope surfaces for spherical indicatrices of a space curve.
Furthermore, we investigated Bertrand curves corresponding to parameter curves of constant
slope surfaces. More recently, Fu and Yang [8] studied spacelike constant slope surfaces in
Minkowski 3-space and classified these surfaces in the same space.
Constant slope surfaces have nice shapes and they are interesting in terms of differential
geometry. The study of these surfaces is similar to that of the logarithmic spirals and classical
helices.
In this study, we will show that timelike Bertrand curves and spacelike Bertrand curves
can be constructed from unit speed spacelike curves on the hyperbolic plane
2
and from unit
speed spacelike curves on the de Sitter 2-space
2
1
, S respectively. Furthermore, we will obtain the
relations between Bertrand curves and helices. We will define the notion of de Sitter evolutes of
curves on
2
and
2
1
S and demonstrate that the Darboux indicatrices of Bertrand curves are equal
to these evolutes. Afterwards, we will investigate the relations between Bertrand curves and
spacelike constant slope surfaces in
3
1
. E Moreover we will give some examples of our main
results and the corresponding pictures will be drawn by using Mathematica.

2. Basic Notations, Definitions and Formulas

In this section, we give the basic notations and some results in Minkowski 3-space. Let
3
1
E be the Minkowski 3-space, that is,
3
1
E is the real vector space
3
R endowed with the standard
flat Lorentzian metric
( ) ( ) ( )
2 2 2
1 2 3
, , dx dx dx = + (2.1)
where
1 2 3
( , , ) x x x is a rectangular coordinate system of
3
1
. E An arbitrary vector
3
1
eE x is said
spacelike if , 0 > x x or 0, = x timelike if , 0 < x x and lightlike (null) if , 0 = x x and
0. = x The norm of a vector x is given by , . = x x x

4

Given a regular (smooth) curve
3
1
: , I c R E we say that is spacelike (resp.
timelike, lightlike) if all of its velocity vectors ( ) t ' are spacelike (resp. timelike, lightlike).
Minkowski space is originally from the relativity in physics. In fact, a timelike curve
corresponds to path of an observer moving at less than the speed of light, a lightlike curve
corresponds to the moving at a speed of light and a spacelike curve corresponds to the moving
faster than light.
If is spacelike or timelike we say that is a non-null curve. In such case, there exist a
change of parameter , t namely, ( ), s s t = such that ( ) 1. s ' = Then we say that is
parametrized by the arc-length parameter. In this case, we say that is a unit speed curve.
The angle between two vectors in Minkowski 3-space is defined by [1, 3]:

Definition 2.1. Let x and y be spacelike vectors in
3
1
E that span a spacelike vector subspace.
Then we have ( , ) g s x y x y and hence, there is a unique positive real number such that
( , ) cos . g s x y x y (2.2)
The real number is called the Lorentzian spacelike angle between x and . y

Definition 2.2. Let x and y be spacelike vectors in
3
1
E that span a timelike vector subspace.
Then we have ( , ) g > x y x y and hence, there is a unique positive real number such that
( , ) cosh . g = x y x y (2.3)
The real number is called the Lorentzian timelike angle between x and . y

Definition 2.3. Let x and y be positive (negative) timelike vectors in
3
1
. E Then there is a unique
non-negative real number such that
( , ) cosh . g = x y x y (2.4)
The real number is called the Lorentzian timelike angle between x and . y

Definition 2.4. Let x be spacelike vector and y be positive timelike vector in
3
1
. E Then there is
a unique non-negative real number such that
5

( , ) sinh . g = x y x y (2.5)
The real number is called the Lorentzian timelike angle between x and . y
We also need to recall the notion of the Lorentzian cross-product:
( )
3 3 3
1 1 1
1 2 3 1 2 3 1 2 3 2 3 3 2 3 1 1 3 2 1 1 2
1 2 3
:
( , , ), ( , , ) ( , , ). x x x y y y x x x x y x y x y x y x y x y
y y y

=
E E E
1 2 3
e e e
(2.6)
As the cross-product in Euclidean 3-space, the Lorentzian cross-product has similar algebraic and
geometric properties:
(i) ( ) det ; , , , = x y z x y z
(ii) ; = x y y x
(iii) ( ) ; , + , = x y z x z y y z x
(iv) 0 , = x y x and 0; , = x y y
(v)
( )
2
, , , , , = + x y x y x x y y x y for all , , x y z in
3
1
. E
Given a unit speed curve in
3
1
, E it is possible to define a Frenet frame
{ } ( ), ( ), ( ) s s s T N B associated for each point . s Here , T N and B are the tangent, normal and
binormal vector fields, respectively. Depending on the causal character of the curve , we have
the following Frenet equations, the Darboux indicatrices and the curvatures:
Let be a unit speed timelike curve in
3
1
. E The Frenet frame { } ( ), ( ), ( ) s s s T N B of is
given by
( ) ( ), s s ' = T ( ) ( ) / ( ) , s s s '' '' = N ( ) ( ) ( ). s s s = B T N (2.7)
We define the curvature of at s as ( ) ( ) . s s ' = T Moreover ( ) ( ), ( ) . s s s ' = T N We define
the torsion of at s as ( ) ( ), ( ) . s s s ' = N B The Frenet equations are
( ) 0 ( ) 0 ( )
( ) ( ) 0 ( ) ( ) .
( ) 0 ( ) 0 ( )
s s s
s s s s
s s s

'
( ( (
( ( (
' =
( ( (
' ( ( (

T T
N N
B B
(2.8)
The Darboux vector for the timelike curve is given by ( ) ( ) ( ) ( ) ( ). s s s s s = + D T B We consider
6

the normalization of the Darboux vector ( ) ( ) / ( ) , s s s = C D D which is called the Darboux
indicatrix of the timelike curve in
3
1
. E
For a general parameter t of a timelike space curve , we can calculate the curvature and the
torsion as follows:
( )
3/ 2 2
( ) ( )
det( ( ), ( ), ( ))
( ) , ( ) .
( ) ( ) ( ), ( )
t t
t t t
t t
t t t t




' '' ' '' '''
= =
' '' ' '
(2.9)
Let be a unit speed spacelike curve in
3
1
. E We assume that ( ) s ' T is spacelike. Again
we write ( ) ( ) , s s ' = T ( ) ( ) / ( ) s s s '' '' = N and ( ) ( ) ( ). s s s = B N T The Frenet equations are
( ) 0 ( ) 0 ( )
( ) ( ) 0 ( ) ( ) .
( ) 0 ( ) 0 ( )
s s s
s s s s
s s s

'
( ( (
( ( (
' =
( ( (
' ( ( (

T T
N N
B B
(2.10)
The Darboux vector for this spacelike curve is given by ( ) ( ) ( ) ( ) ( ) s s s s s = + C T B and the
Darboux indicatrix is ( ) ( ) / ( ) . s s s = C D D The torsion of is defined by ( ) ( ), ( ) . s s s ' = N B
Similarly, let be a unit speed spacelike curve in
3
1
. E We assume that ( ) s ' T is timelike.
Then we write ( ) ( ), ( ) , s s s ' ' = T T ( ) ( ) / ( ) s s s '' '' = N and ( ) ( ) ( ). s s s = B T N The Frenet
equations are
( ) 0 ( ) 0 ( )
( ) ( ) 0 ( ) ( ) .
( ) 0 ( ) 0 ( )
s s s
s s s s
s s s

'
( ( (
( ( (
' =
( ( (
' ( ( (

T T
N N
B B
(2.11)
The Darboux vector for this spacelike curve is given by ( ) ( ) ( ) ( ) ( ) s s s s s = D T B and the
Darboux indicatrix is ( ) ( ) / ( ) . s s s = C D D The torsion of is defined by ( ) ( ), ( ) . s s s ' = N B
For a general parameter t of a spacelike space curve , we can calculate the curvature and the
torsion as follows:
( )
3/ 2 2
( ) ( ) det( ( ), ( ), ( ))
( ) , ( ) .
( ) ( ) ( ), ( )
t t t t t
t t
t t t t



' '' ' '' '''
= =
' '' ' '
(2.12)
A helix in
3
1
E is a regular curve such that (s), T w is a constant function for some fixed
vector 0. = w Any line parallel this direction w is called the axis of the helix. If a (timelike or
7

spacelike) curve in
3
1
E is a helix, then / is a constant function. Conversely, let be a
timelike or a spacelike curve with non-null normal vector. If / is constant, then is a helix.
On the other hand, a (timelike or spacelike) curve is a Bertrand curve if and only if there are
non-zero real constants , A B such that ( ) ( ) 1 A s B s + = for any s in
3
1
E (see [10] for details).
We now define spheres in
3
1
E as follows:
{ }
2 3 2 2 2
1 1 2 3 1 1 2 3
( , , ) : 1 , x x x x x x = e + = S E (2.13)
{ }
2 3 2 2 2
1 2 3 1 1 2 3
( , , ) : 1 . x x x x x x = e + = E (2.14)
We call
2
1
S a de Sitter 2-space and
2
a hyperbolic plane.

3. Spacelike constant slope surfaces lying in the timelike cone and timelike Bertrand curves

In this section, firstly we give characterizations of spacelike constant slope surfaces lying
in the timelike cone and timelike Bertrand curves in Minkowski 3-space, respectively. Also, we
define the notion of de Sitter evolute of a curve on
2
. Secondly, we explore relations among
timelike Bertrand curves, helices, Darboux indicatrices, de Sitter evolutes and these surfaces in
3
1
. E
Now we give this theorem:

Theorem 3.1. Let
3
1
: x M E be a spacelike surface immersed in the 3-dimensional Minkowski
space
3
1
. E If x lies in the timelike cone, then M is a constant slope surface if and only if one of
the following five statements holds:
(1) the immersion ( ) x M is an open portion of the hyperbolic plane
2
centered at the origin;
(2) the immersion ( ) x M is a surface of revolution with a lightlike axis, given by
( )
2 coth coth 2 coth 2 coth coth 2
( , ) sinh ( 1), 2 , sinh ( 1) ,
2
u
x u v u u v u v u u v



= + + +
where is a positive constant angle function;
(3) the immersion ( ) x M is a surface of revolution with a lightlike axis, given by
( )
2 coth coth 2 coth 2 coth coth 2
( , ) sinh ( 1), 2 , sinh ( 1) ,
2
u
x u v u u v u v u u v



= + + +
8

where is a positive constant angle function;
(4) the immersion ( ) x M is a surface of revolution with a timelike axis, given by
( ) ( , ) sinh sinh(coth ln ) cos , sinh(coth ln )sin , cosh(coth ln ) , x u v u u v u v u =
where is a positive constant angle function;
(5) the immersion ( ) x M is given by
( ) ( , ) sinh cosh(coth ln ) ( ) sinh(coth ln ) ( ) ( ) , x u v u u f v u f v f v ' = +
where f is a unit speed spacelike curve on
2
and is a positive constant angle function [8].
Let
2
: f I be a unit speed spacelike curve. We denote v as the arc-length
parameter of . f Let us denote ( ) ( ) v f v ' = t and we call ( ) v t the unit tangent vector of f at . v
We now set a vector ( ) ( ) ( ) v f v v = s t and as a consequence ( ) ( ) ( ), v v f v = s t where f denotes
the position vector of the curve. By definition of the spacelike curve , f we have a Lorentzian
Sabban frame { } ( ), ( ), ( ) f v v v t s along . f Then we have the following hyperbolic Frenet-Serret
formulae of : f
( ) ( ),
( ) ( ) ( ) ( ),
( ) ( ) ( ),
g
g
f v v
v f v v v
v v v

' =
' = +
' =
t
t s
s t
(3.1)
where ( )
g
v is the geodesic curvature of the curve f on
2
which is given by
( ) det( ( ), ( ), ( ))
g
v f v v v ' = t t (see [9]).
Now we can express the following lemma:

Lemma 3.2. Let
2
: f I be a unit speed spacelike curve. Then
0 0
( ) ( ) tanh ( ) ( )
v v
v a f t dt a f t f t dt ' = +
} }
(3.2)
is a timelike Bertrand curve, where a and ( ) coth ln u u = = are constant numbers, and is a
positive constant angle function. Moreover, all timelike Bertrand curves can be constructed by
this method.

Proof. We now calculate the curvature and the torsion of ( ). v Taking the derivative of Eq. (3.2)
with respect to , v we have
9

2
( ) ( ( ) tanh ( ))
( ) (1 tanh ( )) ( )
( ) (1 tanh ( )) ( ) tanh ( ) ( ) ( ( ) tanh ( )) ( ).
g
g g g g
v a f v v
v a v v
v a v f v a v v a v v v



' = +
'' =
''' ' = +

s
t
t s
(3.3)
Therefore, by Eq. (2.9), we can calculate ( ) v and ( ) v as follows:
2 2
cosh (1 tanh ( )) cosh ( ( ) tanh )
( ) and ( ) ,
g g
v v
v v
a a



= = (3.4)
where 1. = It follows from these formulae that ( ( ) tanh ( )) 1, a v v + = so ( ) v is a timelike
Bertrand curve.
Conversely, let be a timelike Bertrand curve. There exist real constants , A B different from 0
such that ( ) ( ) 1. A s B s + = Here we put , a A = tanh / . B a = We assume that 0 a > and choose
1 = with cosh / 0. a > We consider the Frenet frame { } ( ), ( ), ( ) s s s T N B for the timelike
curve ( ). s In this trihedron ( ) s T is timelike vector, ( ) s N and ( ) s B are spacelike vectors. For
these vectors, we can write ( ) ( ) ( ) s s s = T N B and ( ) ( ) ( ). s s s = B N T Now we define a
spacelike curve on
2
as
( ) ( ) cosh ( ) sinh ( ) . f s s s = T B (3.5)
Thus we have
( ) cosh ( ( ) tanh ( )) ( ) cosh ( ). f s s s s s
a

' = + = N N (3.6)
Let v be the arc-length parameter of , f then we have / cosh / . dv ds a = Moreover, we have
( ) ( ) cosh cosh ( ) sinh ( )
dv
af s s s
ds
= T B (3.7)
and
tanh ( ) tanh (cosh ( ) sinh ( )) cosh ( )
sinh (cosh ( ) sinh ( )).
df dv
a f s a s s s
dv ds a
s s

=
=
T B N
B T
(3.8)
By using Eqs. (3.7) and (3.8), we obtain
0
0
0
0 0
( ) tanh ( ) ( ) cosh (cosh ( ) sinh ( ))
sinh (cosh ( ) sinh ( ))
( ) ( ).
v v s
s
s
s
s
s
a f t dt a f t f t dt t t dt
t t dt
t dt s

' + =
+
= =
} } }
}
}

T B
B T
T
(3.9)
10

This completes the proof.
As a consequence of this lemma, we can make a connection between timelike Bertrand
curves and helices.

Corollary 3.3. The unit speed spacelike curve f on
2
is a part of a pseudo-circle if and only if
the corresponding timelike Bertrand curve is a helix.

Proof. By using Eq. (3.4), we have
2
sinh 2 ( ) cosh ( )
( ) and ( ) .
2
g g
v v
v v
a a


' '
' ' = = (3.10)
The unit speed spacelike curve f on
2
is a part of a pseudo-circle if and only if
( )
g
v =constant. This condition is equivalent to the condition that both ( ) v and ( ) v are non-
zero constants. The proof is completed.
Under the assumption that
2
( ) 1,
g
v = we define a curve in
3
1
: E
2
( ) ( ) ( )
( ) .
1 ( )
g
f
g
v f v v
d v
v

+
=

s
(3.11)
We remark that ( )
f
d v is located in
2
1
S if and only if
2
( ) 1,
g
v < otherwise it is in
2
. We call
f
d
the de Sitter evolute of f or the pseudo-spherical evolute of f (see [9]).
Then we have the following proposition:

Proposition 3.4. Let
2
: f I be a unit speed spacelike curve and
3
1
: I E be a timelike
Bertrand curve corresponding to . f Then the Darboux indicatrix of is equal to the de Sitter
evolute of . f

Proof. By Eq. (3.4), we have
2 2
cosh (1 tanh ( )) cosh ( ( ) tanh )
( ) and ( ) .
g g
v v
v v
a a



= =
For the timelike curve , we have
11


( ) ( ) ( ) tanh ( )
dv
v a f v v
ds
= + T s and ( ) ( ). v v = N t (3.12)
Then we get
( ) ( ) ( ) ( ) ( ) tanh ( ) .
dv
v v v a v f v
ds
= = + B T N s (3.13)
We can easily show that

( )
( ) ( ) ( ) ( ) ( ) ( ) ( ) ( ) .
g
dv
v v v v v v f v v
ds
= + = + D T B s (3.14)
Therefore we have ( ) = ( ) / ( ) ( ).
f
v v v d v = C D D This completes the proof.
We have the following theorem:

Theorem 3.5. Let
2
: f I be a unit speed spacelike curve and
3
1
: I E be a timelike
Bertrand curve corresponding to . f Then ( ) v ' lies on the spacelike constant slope surface
( , ) x u v lying in the timelike cone.

Proof. By Lemma 3.2, taking the derivative of Eq. (3.2) with respect to v we obtain
( ) ( ) tanh ( ) ( ). v af v a f v f v ' ' = + (3.15)
We can take a as sinh cosh a u = and so tanh sinh sinh , a u = where , u are constants.
Thus by the Statement (5) in Theorem 3.1, ( ) v ' is v parameter curve of spacelike constant
slope surface ( , ) x u v lying in the timelike cone and ( ) v ' lies on it. This completes the proof.
We now state the relation between timelike Bertrand curves and spacelike constant slope
surfaces lying in the timelike cone.

Theorem 3.6. Let
3
1
: x M E be a spacelike surface immersed in the 3-dimensional Minkowski
space
3
1
E and x lies in the timelike cone. If ( ) x v is v parameter curve of spacelike constant
slope surface ( , ) x u v lying in the timelike cone, then
0
( )
v
x v dv
}
is a timelike Bertrand curve.

Proof. From the Statement (5) in Theorem 3.1, we get
( ) sinh cosh ( ) sinh sinh ( ) ( ) x v u f v u f v f v ' = + (3.16)
12

for u =constant, where ( ) coth ln . u u = = By integrating ( ), x v we have the equation as
0 0 0
( ) sinh cosh ( ) sinh sinh ( ) ( ) .
v v v
x v dv u f v dv u f v f v dv ' = +
} } }
(3.17)
Since coefficients of ( ) f v and ( ) ( ) f v f v ' are constants, we can take sinh cosh u as
sinh cosh u a = and so sinh sinh tanh . u a = Therefore we obtain
0 0 0
( ) ( ) tanh ( ) ( ) .
v v v
x v dv a f v dv a f v f v dv ' = +
} } }
(3.18)
By Lemma 3.2,
0
( )
v
x v dv
}
is a timelike Bertrand curve. This completes the proof.

4. Spacelike constant slope surfaces lying in the spacelike cone and spacelike Bertrand
curves

In this section, as in Section 3, we give characterizations of spacelike constant slope
surfaces lying in the spacelike cone and spacelike Bertrand curves in
3
1
. E We define the notion of
de Sitter evolute of a curve on
2
1
. S Moreover we explore relations among spacelike Bertrand
curves, helices, Darboux indicatrices, de Sitter evolutes and these surfaces in the same space.
Now we give this theorem:

Theorem 4.1. Let
3
1
: x M E be a spacelike surface immersed in the 3-dimensional Minkowski
space
3
1
E . If x lies in the spacelike cone, then M is a constant slope surface if and only if one of
the following five statements holds:
(1) the immersion ( ) x M is an open portion of a cone with the vertex at the origin, which can be
parametrized as
( , ) ( ), x u v uf v =
where f is a unit speed spacelike curve on
2
1
; S
(2) the immersion ( ) x M is a surface of revolution with a lightlike axis, given by
( )
2 tanh tanh 2 tanh 2 tanh tanh 2
( , ) cosh ( 1), 2 , cosh ( 1) ,
2
u
x u v u u v u v u u v



= + + +
where is a positive constant angle function;
(3) the immersion ( ) x M is a surface of revolution with a lightlike axis, given by
13

( )
2 tanh tanh 2 tanh 2 tanh tanh 2
( , ) cosh ( 1), 2 , cosh ( 1) ,
2
u
x u v u u v u v u u v



= + + +
where is a positive constant angle function;
(4) the immersion ( ) x M is a surface of revolution with a spacelike axis, given by
( ) ( , ) cosh cosh(tanh ln ), sinh(tanh ln )sinh , sinh(tanh ln ) cosh , x u v u u u v u v =
where is a positive constant angle function;
(5) the immersion ( ) x M is given by
( ) ( , ) cosh cosh(tanh ln ) ( ) sinh(tanh ln ) ( ) ( ) , x u v u u f v u f v f v ' = +
where f is a unit speed spacelike curve on
2
1
S and is a positive constant angle function [8].
Similar to the Section 3, we define a pseudo-orthonormal frame for a spacelike curve on
2
1
S . Let
2
1
: f I S be unit speed spacelike curve with the tangent vector ( ) ( ). v f v ' = t We now
set a vector ( ) ( ) ( ) v f v v = s t and as a consequence ( ) ( ) ( ), v v f v = s t where f denotes the
position vector of the curve. By definition of the spacelike curve , f we have a Lorentzian
Sabban frame { } ( ), ( ), ( ) f v v v t s along . f Then we have the following spherical Frenet-Serret
formulae of : f
( ) ( ),
( ) ( ) ( ) ( ),
( ) ( ) ( ),
g
g
f v v
v f v v v
v v v

' =
' =
' =
t
t s
s t
(4.1)
where ( )
g
v is the geodesic curvature of the curve f on
2
1
S which is given by
( ) det( ( ), ( ), ( )).
g
v f v v v ' = t t
Now we can express the following lemma:

Lemma 4.2. Let
2
1
: f I S be a unit speed spacelike curve. Then
0 0
( ) ( ) tanh ( ) ( )
v v
v a f t dt a f t f t dt ' = +
} }
(4.2)
is a spacelike Bertrand curve, where , a ( ) tanh ln u u = = are constant numbers and is a
positive constant angle function. Moreover, all spacelike Bertrand curves can be constructed by
this method.

14

Proof. We now calculate the curvature and the torsion of ( ). v Taking the derivative of Eq. (4.2)
with respect to , v we have
2
( ) ( ( ) tanh ( ))
( ) (1 tanh ( )) ( )
( ) (1 tanh ( )) ( ) tanh ( ) ( ) ( ( ) tanh ( )) ( ).
g
g g g g
v a f v v
v a v v
v a v f v a v v a v v v



' = +
'' =
''' ' =

s
t
t s
(4.3)
Therefore, by Eq. (2.12), we can calculate ( ) v and ( ) v as follows:
2 2
cosh (1 tanh ( )) cosh ( ( ) tanh )
( ) and ( ) ,
g g
v v
v v
a a



= = (4.4)
where 1. = It follows from these formulae that ( ( ) tanh ( )) 1, a v v + = so ( ) v is a
spacelike Bertrand curve.
Conversely, let be a spacelike Bertrand curve. There exist real constants , A B different from
0 such that ( ) ( ) 1. A s B s + = Here we put , a A = tanh / . B a = We assume that 0 a > and
choose 1 = with cosh / 0. a > We consider the Frenet frame { } ( ), ( ), ( ) s s s T N B for the
spacelike curve ( ). s In this trihedron ( ), ( ) s s T N are spacelike vectors and ( ) s B is timelike
vector. For these vectors, we can write ( ) ( ) ( ) s s s = T N B and ( ) ( ) ( ). s s s = B N T Now we
define a spacelike curve on
2
1
S as
( ) ( ) cosh ( ) sinh ( ) . f s s s = + T B (4.5)
Thus we have
( ) cosh ( ( ) tanh ( )) ( ) cosh ( ). f s s s s s
a

' = + = N N (4.6)
Let v be the arc-length parameter of , f then we have / cosh / . dv ds a = Moreover, we have
( ) ( ) cosh cosh ( ) sinh ( )
dv
af s s s
ds
= + T B (4.7)
and
tanh ( ) tanh (cosh ( ) sinh ( )) cosh ( )
sinh ( cosh ( ) sinh ( )).
df dv
a f s a s s s
dv ds a
s s

= +
=
T B N
B T
(4.8)
By using Eqs. (4.7) and (4.8), we obtain
15

0
0
0
0 0
( ) tanh ( ) ( ) cosh (cosh ( ) sinh ( ))
sinh ( cosh ( ) sinh ( ))
( ) ( ).
v v s
s
s
s
s
s
a f t dt a f t f t dt t t dt
t t dt
t dt s

' + = +
+
= =
} } }
}
}

T B
B T
T
(4.9)
This completes the proof.

As a consequence of this lemma, we can make a connection between spacelike Bertrand
curves and helices.

Corollary 4.3. The unit speed spacelike curve f on
2
1
S is a part of a pseudo-circle if and only if
the corresponding spacelike Bertrand curve is a helix.

Proof. By using Eq. (4.4), we have
2
sinh 2 ( ) cosh ( )
( ) and ( ) .
2
g g
v v
v v
a a


' '
' ' = = (4.10)
The unit speed spacelike curve f on
2
1
S is a part of a pseudo-circle if and only if
( )
g
v =constant. This condition is equivalent to the condition that both ( ) v and ( ) v are non-
zero constants. The proof is completed.
Under the assumption that
2
( ) 1,
g
v = we define a curve in
3
1
: E
2
( ) ( ) ( )
( ) .
( ) 1
g
f
g
v f v v
d v
v

s
(4.11)
We remark that ( )
f
d v is located in
2
1
S if and only if
2
( ) 1,
g
v > otherwise it is in
2
. We call
f
d
the de Sitter evolute of f or the pseudo-spherical evolute of . f
Then we have the following proposition:

Proposition 4.4. Let
2
1
: f I S be a unit speed spacelike curve and
3
1
: I E be a spacelike
Bertrand curve corresponding to . f Then the Darboux indicatrix of is equal to the de Sitter
evolute of . f

16

Proof. By Eq. (4.4), we have
2 2
cosh (1 tanh ( )) cosh ( ( ) tanh )
( ) and ( ) .
g g
v v
v v
a a



= =
For the spacelike curve , we have
( ) ( ) ( ) tanh ( )
dv
v a f v v
ds
= + T s and ( ) ( ). v v = N t (4.12)
Then we get
( ) ( ) ( ) ( ) ( ) tanh ( ) .
dv
v v v a v f v
ds
= = + B N T s (4.13)
We can easily show that

( )
( ) ( ) ( ) ( ) ( ) ( ) ( ) ( ) .
g
dv
v v v v v v f v v
ds
= + = D T B s (4.14)
Therefore we have ( ) = ( ) / ( ) ( ).
f
v v v d v = C D D This completes the proof.
We have the following theorem:

Theorem 4.5. Let
2
1
: f I S be a unit speed spacelike curve and
3
1
: I E be a spacelike
Bertrand curve corresponding to . f Then ( ) v ' lies on the spacelike constant slope surface
( , ) x u v lying in the spacelike cone.

Proof. By Lemma 4.2, taking the derivative of Eq. (4.2) with respect to v we obtain
( ) ( ) tanh ( ) ( ). v af v a f v f v ' ' = + (4.15)
We can take a as cosh cosh a u = and so tanh cosh sinh , a u = where , u are
constants. Thus by the Statement (5) in Theorem 4.1, ( ) v ' is v parameter curve of spacelike
constant slope surface ( , ) x u v lying in the spacelike cone and ( ) v ' lies on it. This completes the
proof.
We now state the relation between spacelike Bertrand curves and spacelike constant slope
spacelike surfaces lying in the spacelike cone.

Theorem 4.6. Let
3
1
: x M E be a spacelike surface immersed in the 3-dimensional Minkowski
space
3
1
E and x be on the spacelike cone. If ( ) x v is v parameter curve of spacelike constant
17

slope surface ( , ) x u v lying in the spacelike cone, then
0
( )
v
x v dv
}
is a spacelike Bertrand curve.

Proof. From the Statement (5) in Theorem 4.1, we get
( ) cosh cosh ( ) cosh sinh ( ) ( ) x v u f v u f v f v ' = + (4.16)
for u =constant, where ( ) tanh ln . u u = = By integrating ( ), x v we have the equation as
0 0 0
( ) cosh cosh ( ) cosh sinh ( ) ( ) .
v v v
x v dv u f v dv u f v f v dv ' = +
} } }
(4.17)
Since coefficients of ( ) f v and ( ) ( ) f v f v ' are constants, we can take cosh cosh u as
cosh cosh u a = and so cosh sinh tanh . u a = Therefore we obtain
0 0 0
( ) ( ) tanh ( ) ( ) .
v v v
x v dv a f v dv a f v f v dv ' = +
} } }
(4.18)
By Lemma 4.2,
0
( )
v
x v dv
}
is a spacelike Bertrand curve. This completes the proof.

5. Examples and their pictures
We now give some examples of spacelike constant slope surfaces and Bertrand curves
and draw their pictures by using Mathematica.

Example 5.1. Thanks to the Statement (5) of Theorem 3.1, we may choose the unit speed
spacelike curve as ( ) (sinh , 0, cosh ) f v v v = on
2
. Then we have ( ) ( ) (0,1, 0). f v f v ' = Thus,
the spacelike constant slope surface lying in the timelike cone is given by
( ) ( , ) sinh cosh(coth ln )sinh , sinh(coth ln ), cosh(coth ln ) cosh . x u v u u v u u v =
For 1.5, = the picture of this surface is given by the Fig. 1. Thus, for , u e = the timelike
Bertrand curve is given by
( )
0
( ) sinh cosh(coth )(cosh 1), sinh(coth ) , cosh(coth )sinh .
v
x v dv e v v v = (1.5) (1.5) (1.5) (1.5)
}

So, the picture of this curve is given by the Fig. 2.

18


Fig. 1. 1.5, = ( ) (sinh , 0, cosh ), f v v v = the spacelike constant slope surface lying in the timelike
cone.

Fig. 2. 1.5, = , u e = the timelike Bertrand curve.

Example 5.2. In the Statement (5) of Theorem 4.1, we may choose the unit speed spacelike curve
as ( ) (sin , cos , 0) f v v v = on
2
1
. S Then we have ( ) ( ) (0, 0,1). f v f v ' = Thus, the spacelike
constant slope surface lying in the spacelike cone is given by
( ) ( , ) cosh cosh(tanh ln ) sin , cosh(tanh ln ) cos , sinh(tanh ln ) . x u v u u v u v u =
For 1.5, = the picture of this surface is given by the Fig. 3. Thus, for , u e = the spacelike
Bertrand curve is given by
19

( )
0
( ) cosh cosh(tanh )(cos 1), cosh(tanh )sin , sinh(tanh ) .
v
x v dv e v v v = (1.5) (1.5) (1.5) (1.5)
}

Since the spacelike curve ( ) f v is a part of a pseudo-circle, from Corollary 4.3, this spacelike
Bertrand curve is a helix. Thus, the picture of this curve is given by the Fig. 4.


Fig. 3. 1.5, = ( ) (sin , cos , 0), f v v v = the spacelike constant slope surface lying in the spacelike
cone.


Fig. 4. 1.5, = , u e = the spacelike Bertrand curve.


20

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