Frénet formulas

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Formulas that express the derivatives of the unit vectors of the tangent $\tau$, the normal $\nu$ and the binormal $\beta$ to a regular curve with respect to the natural parameter $s$ in terms of these same vectors and the values of the curvature $k_1$ and torsion $k_2$ of the curve:




They were obtained by F. Frénet (1847).



[a1] C.C. Hsiung, "A first course in differential geometry" , Wiley (1981) pp. Chapt. 3, Sect. 4
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Frénet formulas. Encyclopedia of Mathematics. URL:
This article was adapted from an original article by D.D. Sokolov (originator), which appeared in Encyclopedia of Mathematics - ISBN 1402006098. See original article