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If the oriented coordinate tangent vectors meet at a constant angle with cosine $k$, the first fundamental form has $F=k\sqrt{EG}$. The geodesic coordinate grid identities reduce to $k(\sqrt{E}{)}_v=(\sqrt{G}{)}_u$ and $k(\sqrt{G}{)}_u=(\sqrt{E}{)}_v$. Since positive definiteness gives $|k|<1$, both derivatives vanish. Thus $E=E(u)$ and $G=G(v)$ locally. Changing coordinates to $U=\int \sqrt{E}du$ and $V=\int \sqrt{G}dv$ gives the constant metric $d{U}^2+2kdUdV+d{V}^2$. It is locally Euclidean after a linear change of coordinates, hence has zero Gaussian curvature.

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Differential geometry uses calculus to study smooth curves, smooth surfaces, and smooth manifolds. A tangent space describes possible instantaneous motions; a Riemannian metric turns those motions into measurable lengths and angles; curvature records how the resulting geometry differs from Euclidean geometry. Local calculations with derivatives can therefore answer geometric questions about whole shapes.

An especially revealing experiment is rolling a flat sheet into a circular cylinder without stretching it. The sheet visibly bends, yet a small creature measuring only arc lengths, angles, and surface areas detects the same geometry. This separates geometry measured within a surface from its bending in the surrounding Euclidean space. The first fundamental form encodes the measurements; the second fundamental form encodes the bending. The Theorema Egregium explains why a sphere behaves differently, while geodesics on a circular cylinder turn a route-planning problem into drawing a straight line.

The differential geometry of smooth surfaces studies their induced Riemannian metrics and intrinsic or extrinsic curvature. The first fundamental form measures lengths, while the second fundamental form and shape operator describe bending in an ambient Euclidean space. A regular parametric surface $X(u,v)$ must have linearly independent tangent vectors $X_u,X_v$: otherwise its parameters cannot provide a manifold chart with two independent directions.

For a sphere of radius $R>0$, use colatitude $0<\theta <\pi$ and longitude $\varphi$:Thus a change $d\varphi$ has arc length $R\sin \theta |d\varphi |$: equally spaced longitudes draw closer together toward a pole. The coordinate degeneracy at the poles belongs to this parametrization, not to the smooth surface.

Both principal curvatures of the sphere have magnitude $1/R$ and the same sign, giving Gaussian curvature $K=1/R^2$. A plane has $K=0$, and a circular cylinder also has $K=0$ because one principal curvature vanishes. These three familiar shapes show why visible bending alone cannot measure intrinsic Gaussian curvature.

If a unit tangent makes angle $\theta$ with the first principal direction, the normal curvature is ${\kappa }_n={\kappa }_1{\cos }^2\theta +{\kappa }_2{\sin }^2\theta$. This follows by diagonalizing the second fundamental form relative to the first fundamental form. When the Gaussian curvature is nonnegative, $|{\kappa }_n|\le 2|H|$.

Forthe coordinate tangent vectors are orthogonal and the first fundamental form is

Rotate an ellipse with positive semiaxes $a,b$ about an axis a distance $r>a$ from its centre. For the parametrized surface $\sigma (u,v)=((r+a\sin u)\cos v,(r+a\sin u)\sin v,b\cos u)$, put $R=r+a\sin u$ and $D^2=a^2{\cos }^{2}u+b^2{\sin }^{2}u$. An outward unit normal is $N=(b\sin u\cos v,b\sin u\sin v,a\cos u)/D$. Direct differentiation gives the first fundamental form and second fundamental form, with the convention $I{I}_{ij}=⟨{\sigma }_{ij},N⟩$:Reversing the unit normal reverses $II$, but the Gaussian curvature $K=a{b}^2\sin u/(R{D}^4)$ is unchanged.

Rolling a sheet into a circular cylinder bends it without changing its internal lengths and angles. Fitting that same sheet smoothly onto a sphere requires distortion of its first fundamental form. Gaussian curvature distinguishes these situations: it measures the intrinsic curvature of a smooth surface, even though its simplest definition uses how the surface bends in Euclidean space.

The Gaussian curvature at a point is the determinant of the shape operator, or the product of the two principal curvatures:Here $I=Ed{u}^2+2Fdudv+Gd{v}^2$ is the first fundamental form and $II=ed{u}^2+2fdudv+gd{v}^2$ is the second fundamental form, with $S=-dN$. Regularity makes $EG-F^2>0$. Reversing the unit normal negates $e,f,g$ and both principal curvatures, leaving Gaussian curvature unchanged. ^[ref]

The sign describes bending at the point: positive Gaussian curvature means the principal curvatures have the same nonzero sign, as at an elliptic point; negative Gaussian curvature means opposite signs, as on a saddle; zero Gaussian curvature means at least one principal curvature vanishes. Zero Gaussian curvature at a single point does not imply that a neighborhood is a plane. ^[ref]

Four worked models make the signs concrete:

The patches use a common length unit, with $R=1$ for the sphere and circular cylinder. The marked red and blue curves have principal directions at the black point; the arrow is the chosen unit normal. For physical lengths, principal curvature and mean curvature have units of inverse length, while Gaussian curvature has units of inverse squared length. Rescaling a surface by $\lambda >0$ divides its principal curvatures by $\lambda$ and its Gaussian curvature by ${\lambda }^2$. Writing the saddle as $h=(x^2-y^2)/(2L)$ restores an explicit length scale: $K(0)=-1/L^2$.

The Theorema Egregium says that Gaussian curvature depends only on the first fundamental form and its first two coordinate derivatives. A local isometry therefore preserves Gaussian curvature, even if the shape operator and the principal curvatures change. ^[ref]

Here is the outline, rather than a full proof. The Gauss formula splits second derivatives of a parametric surface into tangential Christoffel symbols and the second fundamental form. The Christoffel symbols are determined by the first fundamental form and its first derivatives. Commuting the next partial derivatives gives the Gauss equation, which identifies $\det S$ with the intrinsic sectional curvature computed from the Riemann curvature tensor. Thus the apparently extrinsic product $k_1{k}_2$ is determined by the Riemannian metric. ^[ref]

One can see the distinction directly by rolling a plane strip with coordinates $(u,v)$ into the circular cylinder $X(u,v)=(R\cos (u/R),R\sin (u/R),v)$. Both have $I=d{u}^2+d{v}^2$, so the map is a local isometry, and is one-to-one on an open strip of width less than $2\pi R$. Extending $u$ over all real numbers wraps around periodically; it does not give a global isometry between the entire plane and the entire circular cylinder. A nonempty open patch of a sphere cannot be flattened by a local isometry into a plane, because its Gaussian curvature $1/R^2$ cannot become zero. The obstruction concerns preservation of the first fundamental form, rather than a particular drawing or choice of seam.

An immersion $F:M\to N$ into a Riemannian manifold $(N,h)$ inherits the Riemannian metric $g=F^{\ast }h$: measure two tangent vectors after mapping them into the surrounding tangent space. This is a pullback of a Riemannian metric, withThe injective derivative of an immersion makes this inner product positive-definite. For a parametrized surface in Euclidean space, its coefficients are simply the scalar products of the coordinate tangent vectors: the first fundamental form.

For the circular cylinder $F(\theta ,z)=(R\cos \theta ,R\sin \theta ,z)$, the tangent vectors $F_{\theta }$ and $F_z$ are orthogonal, with squared norms $R^2$ and $1$. ConsequentlyThe unrolled coordinate $x=R\theta$ gives $d{s}^2=d{x}^2+d{z}^2$. This calculation explains intrinsic flatness of a circular cylinder and makes Riemannian distance on a circular cylinder a planar problem with repeated endpoint lifts.

Preserving a Riemannian metric locally preserves the arc length of every mapped curve, but it need not preserve distances measured by unrestricted paths in the surrounding space. The great-circle distance between two sphere points, for example, exceeds their straight chord length unless they coincide. ^[ref].

In spherical coordinates on a sphere of radius $R$, the position is $X=R(\sin \theta \cos \varphi ,\sin \theta \sin \varphi ,\cos \theta )$. Its coordinate tangent vectors satisfy $X_{\theta }\cdot X_{\varphi }=0$, $|X_{\theta }{|}^2=R^2$, and $|X_{\varphi }{|}^2=R^2{\sin }^2\theta$. Expanding $|dX{|}^2$ proves the displayed line element, the first fundamental form of the sphere. Along a parametrized path it gives the arc length by integrating $R\sqrt{{\dot{\theta }}^2+{\sin }^2\theta {\dot{\varphi }}^2}$. The vanishing azimuthal coefficient at a pole is a coordinate singularity, not a singularity of the sphere.

The helicoid $H(s,v)=(\sinh s\cos v,\sinh s\sin v,v)$ and catenoid $C(s,v)=(\cosh s\cos v,\cosh s\sin v,s)$ have the same first fundamental form ${\cosh }^{2}s(d{s}^2+d{v}^2)$. Therefore matching equal parameter pairs gives a local isometry. The result is local: a full turn changes the height on the helicoid while the angular coordinate on the catenoid repeats. Equal intrinsic lengths do not require the same embedding into Euclidean space.

For the conethe first fundamental form isThe local change of polar coordinatesturns this into the Euclidean metric $d{R}^2+R^{2}d{\Theta }^2$.

Mean curvature measures the average signed bending of a smooth surface. Unlike Gaussian curvature, it adds the two principal curvatures rather than multiplying them. A circular cylinder therefore has nonzero mean curvature despite zero Gaussian curvature, whereas a catenoid has zero mean curvature despite negative Gaussian curvature. The cancellation on a catenoid explains how a curved minimal surface can be stationary for surface area.

Choose a unit normal $N$ and the shape operator $S=-dN$, as in the second fundamental form convention $II(v,w)=⟨Sv,w⟩$. For a smooth surface in Euclidean space of dimension three, define the signed scalar mean curvature byHere $E,F,G$ are the coefficients of the first fundamental form, and $e,f,g$ those of the second fundamental form. The factor $1/2$ makes $H$ an average; the scalar trace convention instead calls $k_1+k_2=2H$ the mean curvature. Authors who use $S=+dN$ reverse both signs. A formula involving mean curvature is therefore incomplete unless its shape operator, unit normal, and averaging convention are specified.

In orientation reversal of surface curvature, both principal curvatures and $H$ change sign, while Gaussian curvature and the mean curvature vector do not. The units of mean curvature are inverse length, compared with inverse squared length for Gaussian curvature. The distinction matters in soap film pressure balance: pressure couples to the sum of the signed principal curvatures.

Scale the catenoid by its waist radius $a>0$ and choose a unit normal with outward radial component:The hyperbolic cosine controls the profile $r(z)=a\cosh (z/a)$. Direct differentiation yields the first fundamental form and second fundamental formThe coordinate tangent vectors are orthogonal, so the meridional and circumferential principal curvatures areThe opposite principal curvatures cancel at every point, not just at the waist. This is precisely why the catenoid is a minimal surface, while its nonzero second fundamental form and negative Gaussian curvature show that it is not a plane.

Parametrize a nonconstant hyperbolic geodesic by unit speed. Its energy is $({\dot{x}}^2+{\dot{y}}^2)/(2y^2)$, and the Euler-Lagrange equation in the cyclic coordinate $x$ gives $\dot{x}/y^2=c$. Unit speed gives ${\dot{x}}^2+{\dot{y}}^2=y^2$. If $c=0$ the curve is vertical. Otherwise, on either side of a possible highest point,The two branches join smoothly at the top. Conversely these curves with their unit-speed parametrizations satisfy the energy equations. Thus the unparametrized complete geodesics are vertical half-lines and upper semicircles centered on the real axis.

Let the tractrix point have positive height $r(\theta )$. Its tangent segment to the axis has length one and makes angle $\theta$, so $r=\sin \theta$. Since its slope is $\tan \theta$, $h^{\prime }(\theta )={\cos }^2\theta /\sin \theta$ for its axial coordinate. Rotating $X(\theta ,v)=(h(\theta ),\sin \theta \cos v,\sin \theta \sin v)$ gives orthogonal coordinate vectors with squared lengths ${\cot }^2\theta$ and ${\sin }^2\theta$. Hence the stated first fundamental form follows.

Now put $x=v$, $y=\csc \theta$. Direct substitution givesOn the specified intervals this coordinate map is a diffeomorphism onto the stated rectangle, so is an isometry there and a local isometry on the tractoid.

Set $b=\csc \beta$, $a=\csc \alpha$. In the unwrapped coordinate, connect $(x_0,b)$ to $(x_0+2\pi ,b)$ along the semicircle centered at $(x_0+\pi ,0)$ of radius $\sqrt{b^2+{\pi }^2}$. Its height lies between $b$ and that radius. The hypothesis $a^2-b^2>{\pi }^2$ puts the whole arc in the closed height strip $b\le y\le a$. Projecting the angular coordinate modulo $2\pi$ therefore gives a geodesic segment in the closed tractoid annulus which winds once and returns to its starting point. Taking $x_0$ to represent any chosen angular position proves the assertion for every point of its $\theta =\beta$ boundary. The returned tangent need not equal the starting tangent, so this proves the claimed returning segment without asserting a periodically smooth closed geodesic.

For a regular parametrization choose the unit normal $n=(r_u\times r_v)/|r_u\times r_v|$. The first fundamental form is the squared length induced on tangent vectors:The second fundamental form records their normal bending:The Gaussian curvature isRegularity ensures $EG-F^2>0$.

For a regular parametrization $r(u,v)$, the first fundamental form is the induced metricIt measures the lengths and angles of tangent vectors. A geodesic is a curve whose unit tangent has zero covariant derivative along itself. For an arc-length parametrized surface curve in Euclidean three-space, this means its acceleration is normal to the surface, or ${\gamma }^{\prime \prime }\cdot r_u={\gamma }^{\prime \prime }\cdot r_v=0$.

Differentiating the arc-length identity gives $f^{\prime }{f}^{\prime \prime }+h^{\prime }{h}^{\prime \prime }=0$. Multiply by $f^{\prime }$ and use $(f^{\prime }{)}^2+(h^{\prime }{)}^2=1$ to obtainThis derivation does not divide by $h^{\prime }$, so it remains valid where $h^{\prime }=0$. Inserting the first fundamental form and second fundamental form computed above gives the Gaussian curvature of a surface of revolution:

Work on a regular patch with $f(u)>0$. Differentiating the surface of revolution givesThe arc-length condition gives $E=1$, $F=0$, $G=f^2$. Also $\Vert r_u\times r_v\Vert =f$, so takeThe second derivatives yieldThus the first fundamental form and second fundamental form areThe opposite normal reverses the second displayed form. At a smooth pole the revolution coordinates degenerate, so curvature is understood by a regular local chart or by continuity.

For a regular parametric surface $r(u,v)$, setThe first fundamental form is the induced Riemannian metricThe second fundamental form, for this choice of unit normal vector, isThe Gaussian curvature is the product of the principal curvatures, equivalently the determinant of the shape operator:Reversing the normal reverses the second fundamental form and both principal curvatures, while leaving $K$ unchanged.

For a regular parametrization $\mathbf{r}(u,v)$, the first fundamental form is the induced Riemannian metricIt measures squared lengths of tangent vectors and therefore lengths of curves. In the plane put $x=\rho \cos \theta$, $y=\rho \sin \theta$. The derivatives are orthogonal, of lengths one and $\rho$, soThese polar coordinates are regular for $\rho >0$.