Please note, I found this page a while back, and recently looked for it to find it was removed. I found it via the Wayback Machine and thought I would host a copy of this 'tutorial' here in our own archives, as it might prove helpful to some future student. - tifreak8x
| Command | Comment |
| [t^3/3, t^2/2, 0] sto> r | position vector, r(t) |
| d(r, t) sto> v | velocity vector, v(t) |
| v/norm(v) | (t > 0) sto> z | unit tangent vector, T(t) |
| d(z, t)/norm(d(z, t)) sto> n | unit principal normal vector, N(t) |
| crossp(z, n) sto> b | unit binormal vector, B(t) |
| norm(d(z, t))/norm(v) sto> k | curvature, k |
| d(v, t) sto> a | acceleration vector, a(t) |
| det(augment(augment(v; a); d(a, t))) / norm(crossp(v, a))^2 | torsion vector, t |